IDEAS home Printed from https://ideas.repec.org/a/gam/jeners/v18y2025i8p1962-d1632902.html
   My bibliography  Save this article

New Fault-Tolerant Sensorless Control of FPFTPM Motor Based on Hybrid Adaptive Robust Observation for Electric Agricultural Equipment Applications

Author

Listed:
  • Zifeng Pei

    (School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China)

  • Li Zhang

    (School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China)

  • Haijun Fu

    (School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China)

  • Yucheng Wang

    (State Grid Zhenjiang Power Supply Company, Zhenjiang 212013, China)

Abstract

This paper proposes a hybrid adaptive robust observation (HARO)-based sensorless control strategy of a five-phase fault-tolerant permanent-magnet (FPFTPM) motor for electric agricultural equipment applications under various operating conditions, including fault conditions. Regarding fault-tolerant sensorless control, the existing studies usually treat fault-tolerant control and sensorless control as two independent units rather than a unified system, which makes the algorithm complex. In addition, under the traditional fault-tolerant algorithm, the system needs to switch after diagnosis when the fault occurs, which leads to a degraded sensorless control performance. Hence, this paper proposes a fault-tolerant sensorless control strategy that can achieve the whole speed range without fault-tolerant switching. At zero/low speed, a disturbance adaptive controller (DAC) architecture is developed by treating phase faults as system disturbances, where robust controllers and extended state observer (ESO) collaboratively suppress speed and position errors. At medium/high speeds, this paper provides a steady-healthy SMO, which combines the enhanced observer and universal phase-locked loop (PLL) without phase compensation. With above designs, the proposed strategy can significantly improve the estimated accuracy of rotor position under normal conditions and fault circumstances, while simplifying the complexity of the fault-tolerant sensorless algorithm. Furthermore, the proposed strategy is verified based on the experimental platform of the FPFTPM motor drive system. The experimental results show that compared with the traditional method, the torque ripple and position error are reduced by nearly 20% and 60%, respectively, at zero-low speed and medium-high speed, and the torque ripple is reduced by 55% during fault operation, which verifies the robustness and effectiveness of the proposed method.

Suggested Citation

  • Zifeng Pei & Li Zhang & Haijun Fu & Yucheng Wang, 2025. "New Fault-Tolerant Sensorless Control of FPFTPM Motor Based on Hybrid Adaptive Robust Observation for Electric Agricultural Equipment Applications," Energies, MDPI, vol. 18(8), pages 1-22, April.
  • Handle: RePEc:gam:jeners:v:18:y:2025:i:8:p:1962-:d:1632902
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/1996-1073/18/8/1962/pdf
    Download Restriction: no

    File URL: https://www.mdpi.com/1996-1073/18/8/1962/
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Lingdi Tang & Wei Wang & Chenjun Zhang & Zanya Wang & Zeyu Ge & Shouqi Yuan, 2024. "Linear Active Disturbance Rejection Control System for the Travel Speed of an Electric Reel Sprinkling Irrigation Machine," Agriculture, MDPI, vol. 14(9), pages 1-24, September.
    2. En Lu & Jialin Xue & Tiaotiao Chen & Song Jiang, 2023. "Robust Trajectory Tracking Control of an Autonomous Tractor-Trailer Considering Model Parameter Uncertainties and Disturbances," Agriculture, MDPI, vol. 13(4), pages 1-17, April.
    3. Zhen Zhu & Lingxin Zeng & Long Chen & Rong Zou & Yingfeng Cai, 2022. "Fuzzy Adaptive Energy Management Strategy for a Hybrid Agricultural Tractor Equipped with HMCVT," Agriculture, MDPI, vol. 12(12), pages 1-21, November.
    4. Jinyang Li & Zhaozhao Wu & Meiqing Li & Zhijian Shang, 2024. "Dynamic Measurement Method for Steering Wheel Angle of Autonomous Agricultural Vehicles," Agriculture, MDPI, vol. 14(9), pages 1-21, September.
    5. Qingzhen Zhu & Zhihao Zhu & Hengyuan Zhang & Yuanyuan Gao & Liping Chen, 2023. "Design of an Electronically Controlled Fertilization System for an Air-Assisted Side-Deep Fertilization Machine," Agriculture, MDPI, vol. 13(12), pages 1-12, November.
    6. Dong Dai & Du Chen & Shumao Wang & Song Li & Xu Mao & Bin Zhang & Zhenyu Wang & Zheng Ma, 2023. "Compilation and Extrapolation of Load Spectrum of Tractor Ground Vibration Load Based on CEEMDAN-POT Model," Agriculture, MDPI, vol. 13(1), pages 1-20, January.
    7. Yongyun Zhu & Bingbo Cui & Zelong Yu & Yuanyuan Gao & Xinhua Wei, 2024. "Tillage Depth Detection and Control Based on Attitude Estimation and Online Calibration of Model Parameters," Agriculture, MDPI, vol. 14(12), pages 1-19, November.
    8. Jinyang Li & Zhijian Shang & Runfeng Li & Bingbo Cui, 2022. "Adaptive Sliding Mode Path Tracking Control of Unmanned Rice Transplanter," Agriculture, MDPI, vol. 12(8), pages 1-14, August.
    9. Bing Zhang & Tiecheng Bai & Gang Wu & Hongwei Wang & Qingzhen Zhu & Guangqiang Zhang & Zhijun Meng & Changkai Wen, 2024. "Fatigue Analysis of Shovel Body Based on Tractor Subsoiling Operation Measured Data," Agriculture, MDPI, vol. 14(9), pages 1-25, September.
    10. Yuanyuan Gao & Yifei Yang & Shuai Fu & Kangyao Feng & Xing Han & Yongyue Hu & Qingzhen Zhu & Xinhua Wei, 2024. "Analysis of Vibration Characteristics of Tractor–Rotary Cultivator Combination Based on Time Domain and Frequency Domain," Agriculture, MDPI, vol. 14(7), pages 1-16, July.
    11. Yang Li & Lizhang Xu & Liya Lv & Yan Shi & Xun Yu, 2022. "Study on Modeling Method of a Multi-Parameter Control System for Threshing and Cleaning Devices in the Grain Combine Harvester," Agriculture, MDPI, vol. 12(9), pages 1-18, September.
    12. Zhexuan Ding & Zhong Tang & Ben Zhang & Zhao Ding, 2024. "Vibration Response of Metal Plate and Shell Structure under Multi-Source Excitation with Welding and Bolt Connection," Agriculture, MDPI, vol. 14(6), pages 1-22, May.
    13. Zhen Zhu & Yanpeng Yang & Dongqing Wang & Yingfeng Cai & Longhui Lai, 2022. "Energy Saving Performance of Agricultural Tractor Equipped with Mechanic-Electronic-Hydraulic Powertrain System," Agriculture, MDPI, vol. 12(3), pages 1-22, March.
    14. Yao Yu & Shuaihua Hao & Songbao Guo & Zhong Tang & Shuren Chen, 2022. "Motor Torque Distribution Strategy for Different Tillage Modes of Agricultural Electric Tractors," Agriculture, MDPI, vol. 12(9), pages 1-22, September.
    15. Bingbo Cui & Xinyu Cui & Xinhua Wei & Yongyun Zhu & Zhen Ma & Yan Zhao & Yufei Liu, 2024. "Design and Testing of a Tractor Automatic Navigation System Based on Dynamic Path Search and a Fuzzy Stanley Model," Agriculture, MDPI, vol. 14(12), pages 1-17, November.
    16. Jin Yuan & Wei Ji & Qingchun Feng, 2023. "Robots and Autonomous Machines for Sustainable Agriculture Production," Agriculture, MDPI, vol. 13(7), pages 1-4, July.
    17. Jiawei Shi & Jianping Hu & Jing Li & Wei Liu & Rencai Yue & Tengfei Zhang & Mengjiao Yao, 2024. "Design and Experiment of Planting Mechanism of Automatic Transplanter for Densely Planted Vegetables," Agriculture, MDPI, vol. 14(8), pages 1-22, August.
    Full references (including those not matched with items on IDEAS)

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Francesco Mocera & Aurelio Somà & Salvatore Martelli & Valerio Martini, 2023. "Trends and Future Perspective of Electrification in Agricultural Tractor-Implement Applications," Energies, MDPI, vol. 16(18), pages 1-36, September.
    2. Haobin Jiang & Yang Zhao & Shidian Ma, 2025. "Dual-Layer Energy Management Strategy for a Hybrid Energy Storage System to Enhance PHEV Performance," Energies, MDPI, vol. 18(7), pages 1-20, March.
    3. Junjiang Zhang & Mingyue Shi & Mengnan Liu & Hanxiao Li & Bin Zhao & Xianghai Yan, 2024. "Dual-Source Cooperative Optimized Energy Management Strategy for Fuel Cell Tractor Considering Drive Efficiency and Power Allocation," Agriculture, MDPI, vol. 14(9), pages 1-26, August.
    4. Zhengkai Wu & Jiazhong Wang & Yazhou Xing & Shanshan Li & Jinggang Yi & Chunming Zhao, 2023. "Energy Management of Sowing Unit for Extended-Range Electric Tractor Based on Improved CD-CS Fuzzy Rules," Agriculture, MDPI, vol. 13(7), pages 1-18, June.
    5. Liming Sun & Mengnan Liu & Zhipeng Wang & Chuqiao Wang & Fuqiang Luo, 2023. "Research on Load Spectrum Reconstruction Method of Exhaust System Mounting Bracket of a Hybrid Tractor Based on MOPSO-Wavelet Decomposition Technique," Agriculture, MDPI, vol. 13(10), pages 1-18, September.
    6. Ruochen Wang & Kaiqiang Zhang & Renkai Ding & Yu Jiang & Yiyong Jiang, 2025. "A Novel Hydraulic Interconnection Design and Sliding Mode Synchronization Control of Leveling System for Crawler Work Machine," Agriculture, MDPI, vol. 15(2), pages 1-19, January.
    7. Yongyun Zhu & Bingbo Cui & Zelong Yu & Yuanyuan Gao & Xinhua Wei, 2024. "Tillage Depth Detection and Control Based on Attitude Estimation and Online Calibration of Model Parameters," Agriculture, MDPI, vol. 14(12), pages 1-19, November.
    8. Rundong Zhou & Lin Wang & Xiaoting Deng & Chao Su & Song Fang & Zhixiong Lu, 2024. "Research on Energy Distribution Strategy of Tandem Hybrid Tractor Based on the Pontryagin Minimum Principle," Agriculture, MDPI, vol. 14(3), pages 1-17, March.
    9. Chengliang Zhang & Changpu Li & Chunzhao Zhao & Lei Li & Guanlei Gao & Xiyuan Chen, 2022. "Design of Hydrostatic Chassis Drive System for Large Plant Protection Machine," Agriculture, MDPI, vol. 12(8), pages 1-16, July.
    10. Wenming Chen & Lianglong Hu & Gongpu Wang & Jianning Yuan & Guocheng Bao & Haiyang Shen & Wen Wu & Zicheng Yin, 2023. "Design of 4UM-120D Electric Leafy Vegetable Harvester Cutter Height off the Ground Automatic Control System Based on Incremental PID," Agriculture, MDPI, vol. 13(4), pages 1-18, April.
    11. Hanqi Zhao & Jian Wang & Yang Liu & Zhifan Chen & Jingqi Wang & Lin Chen, 2024. "Quality and Testing of Red Pepper Soft Picking Manipulator Based on RD-DEM Coupling," Agriculture, MDPI, vol. 14(8), pages 1-18, August.
    12. Kuo Yang & Xinhui Liu & Changyi Liu & Ziwei Wang, 2023. "Motion-Control Strategy for a Heavy-Duty Transport Hexapod Robot on Rugged Agricultural Terrains," Agriculture, MDPI, vol. 13(11), pages 1-23, November.
    13. Weijian Liu & Xiwen Luo & Shan Zeng & Li Zeng & Zhiqiang Wen, 2022. "The Design and Test of the Chassis of a Triangular Crawler-Type Ratooning Rice Harvester," Agriculture, MDPI, vol. 12(6), pages 1-17, June.
    14. Bingbo Cui & Xinyu Cui & Xinhua Wei & Yongyun Zhu & Zhen Ma & Yan Zhao & Yufei Liu, 2024. "Design and Testing of a Tractor Automatic Navigation System Based on Dynamic Path Search and a Fuzzy Stanley Model," Agriculture, MDPI, vol. 14(12), pages 1-17, November.
    15. Xiaoting Deng & Hailong Sun & Zhixiong Lu & Zhun Cheng & Yuhui An & Hao Chen, 2022. "Research on Dynamic Analysis and Experimental Study of the Distributed Drive Electric Tractor," Agriculture, MDPI, vol. 13(1), pages 1-21, December.
    16. Yutong Liu & Zhipeng Fu & Yiyun Ma & Binghong Pan, 2025. "Sustainable Transportation Design: Examining the Application Effect of Auxiliary Lanes on Dual-Lane Exit Ramps on Chinese Freeways," Sustainability, MDPI, vol. 17(4), pages 1-23, February.
    17. Wenming Chen & Gongpu Wang & Lianglong Hu & Jianning Yuan & Wen Wu & Guocheng Bao & Zicheng Yin, 2022. "PID-Based Design of Automatic Control System for a Travel Speed of the 4UM-120D Electric Leafy Vegetable Harvester," Sustainability, MDPI, vol. 14(21), pages 1-14, October.
    18. Piras, M. & De Bellis, V. & Malfi, E. & Novella, R. & Lopez-Juarez, M., 2024. "Hydrogen consumption and durability assessment of fuel cell vehicles in realistic driving," Applied Energy, Elsevier, vol. 358(C).
    19. Shuai Zhang & Weizhen Wei & Xiaoliang Chen & Liyou Xu & Yuntao Cao, 2022. "Vibration Performance Analysis and Multi-Objective Optimization Design of a Tractor Scissor Seat Suspension System," Agriculture, MDPI, vol. 13(1), pages 1-28, December.
    20. Jinyang Li & Miao Zhang & Gong Zhang & Deqiang Ge & Meiqing Li, 2023. "Real-Time Monitoring System of Seedling Amount in Seedling Box Based on Machine Vision," Agriculture, MDPI, vol. 13(2), pages 1-26, February.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jeners:v:18:y:2025:i:8:p:1962-:d:1632902. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.