In this paper, an Improved Nonsingular Terminal Sliding-mode (INTSM) observer is proposed to estimate the speed of the permanent magnet synchronous motor (PMSM). The Nonsingular Terminal Sliding-mode (NTSM) not only inherits the good performance to track the state error, but also has the characteristic of limited time convergence. However, the conventional NTSM control law is too complex to apply in practice. The INTSM takes the thoughts of the fast Terminal Sliding-mode and uses a new nonlinear term to replace the conventional term. As a result, the new observer owns the characteristics of global fast convergence and simple control law. At last, the proposed method proves to be effective through the theoretical analysis and simulation test.

An adaptive model reference parameter identification method without sensors for PMSM is presented in this paper and this method is based on double manifold sliding mode. The real model of PMSM is selected as the reference model and the d/q frame observer which is constructed using current model of the motor is selected as the adjustable model. The manifold sliding mode surface is constructed using the output (current in d/q frame) errors of the two models. Proper parameters are selected to guarantee the stability of the observer. The adjustable model converges to the reference model and the running state of motor can be identified. Theoretical analysis and simulation results show that the proposed strategy has high static and dynamic performance，high tracking precision as well as stronger robustness.