A Full-Speed Range Vector Control Strategy for SPMSM Used in Underwater Propulsion Based on Hall Sensors and Sliding Mode Observer

Zexin Hao; Quntao An; Shijie Yang; Ping Zheng

doi:10.1109/ESEE69148.2026.11601333

A Full-Speed Range Vector Control Strategy for SPMSM Used in Underwater Propulsion Based on Hall Sensors and Sliding Mode Observer

Zexin Hao
, Quntao An^*
, Shijie Yang
, Ping Zheng

^*Corresponding author for this work

School of Electrical Engineering and Automation, Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In recent years, underwater robots have played a key role in exploring marine resources and performing underwater operations. To enhance the power density and efficiency of the system, the lightweight and integrated design of underwater propulsion motors and their control systems has become a significant development trend. This paper investigates a surface-mounted permanent magnet synchronous motor (SPMSM) for underwater propulsion, establishes its mathematical model, and elaborates on the fundamental principles of vector control based on this model. Aiming to improve system integration and power density, a full-speed range vector control strategy for SPMSM based on Hall sensors and sliding mode observer (SMO) is proposed. The specific content and advantages of the hybrid position detection scheme within this control strategy are described, and simulation verification is carried out using MATLAB/Simulink.

Original language	English
Title of host publication	2026 2nd International Conference on Energy Systems and Electrical Engineering, ESEE 2026
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	730-736
Number of pages	7
ISBN (Electronic)	9798331563905
DOIs	https://doi.org/10.1109/ESEE69148.2026.11601333
State	Published - 2026
Externally published	Yes
Event	2nd International Conference on Energy Systems and Electrical Engineering, ESEE 2026 - Hengyang, China Duration: 27 Mar 2026 → 29 Mar 2026

Publication series

Name	2026 2nd International Conference on Energy Systems and Electrical Engineering, ESEE 2026

Conference

Conference	2nd International Conference on Energy Systems and Electrical Engineering, ESEE 2026
Country/Territory	China
City	Hengyang
Period	27/03/26 → 29/03/26

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy
SDG 14 Life Below Water

Keywords

Hall sensors
Surface-mounted permanent magnet synchronous motor
hybrid position detection scheme
sliding mode observer
vector control

Access to Document

10.1109/ESEE69148.2026.11601333

Cite this

Hao, Z., An, Q., Yang, S., & Zheng, P. (2026). A Full-Speed Range Vector Control Strategy for SPMSM Used in Underwater Propulsion Based on Hall Sensors and Sliding Mode Observer. In 2026 2nd International Conference on Energy Systems and Electrical Engineering, ESEE 2026 (pp. 730-736). (2026 2nd International Conference on Energy Systems and Electrical Engineering, ESEE 2026). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ESEE69148.2026.11601333

Hao, Zexin ; An, Quntao ; Yang, Shijie et al. / A Full-Speed Range Vector Control Strategy for SPMSM Used in Underwater Propulsion Based on Hall Sensors and Sliding Mode Observer. 2026 2nd International Conference on Energy Systems and Electrical Engineering, ESEE 2026. Institute of Electrical and Electronics Engineers Inc., 2026. pp. 730-736 (2026 2nd International Conference on Energy Systems and Electrical Engineering, ESEE 2026).

@inproceedings{c9e2497718d24624a19297f618bf357b,

title = "A Full-Speed Range Vector Control Strategy for SPMSM Used in Underwater Propulsion Based on Hall Sensors and Sliding Mode Observer",

abstract = "In recent years, underwater robots have played a key role in exploring marine resources and performing underwater operations. To enhance the power density and efficiency of the system, the lightweight and integrated design of underwater propulsion motors and their control systems has become a significant development trend. This paper investigates a surface-mounted permanent magnet synchronous motor (SPMSM) for underwater propulsion, establishes its mathematical model, and elaborates on the fundamental principles of vector control based on this model. Aiming to improve system integration and power density, a full-speed range vector control strategy for SPMSM based on Hall sensors and sliding mode observer (SMO) is proposed. The specific content and advantages of the hybrid position detection scheme within this control strategy are described, and simulation verification is carried out using MATLAB/Simulink.",

keywords = "Hall sensors, Surface-mounted permanent magnet synchronous motor, hybrid position detection scheme, sliding mode observer, vector control",

author = "Zexin Hao and Quntao An and Shijie Yang and Ping Zheng",

note = "Publisher Copyright: {\textcopyright} 2026 IEEE.; 2nd International Conference on Energy Systems and Electrical Engineering, ESEE 2026 ; Conference date: 27-03-2026 Through 29-03-2026",

year = "2026",

doi = "10.1109/ESEE69148.2026.11601333",

language = "英语",

series = "2026 2nd International Conference on Energy Systems and Electrical Engineering, ESEE 2026",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "730--736",

booktitle = "2026 2nd International Conference on Energy Systems and Electrical Engineering, ESEE 2026",

address = "美国",

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Hao, Z, An, Q , Yang, S & Zheng, P 2026, A Full-Speed Range Vector Control Strategy for SPMSM Used in Underwater Propulsion Based on Hall Sensors and Sliding Mode Observer. in 2026 2nd International Conference on Energy Systems and Electrical Engineering, ESEE 2026. 2026 2nd International Conference on Energy Systems and Electrical Engineering, ESEE 2026, Institute of Electrical and Electronics Engineers Inc., pp. 730-736, 2nd International Conference on Energy Systems and Electrical Engineering, ESEE 2026, Hengyang, China, 27/03/26. https://doi.org/10.1109/ESEE69148.2026.11601333

A Full-Speed Range Vector Control Strategy for SPMSM Used in Underwater Propulsion Based on Hall Sensors and Sliding Mode Observer. / Hao, Zexin; An, Quntao ; Yang, Shijie et al.
2026 2nd International Conference on Energy Systems and Electrical Engineering, ESEE 2026. Institute of Electrical and Electronics Engineers Inc., 2026. p. 730-736 (2026 2nd International Conference on Energy Systems and Electrical Engineering, ESEE 2026).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A Full-Speed Range Vector Control Strategy for SPMSM Used in Underwater Propulsion Based on Hall Sensors and Sliding Mode Observer

AU - Hao, Zexin

AU - An, Quntao

AU - Yang, Shijie

AU - Zheng, Ping

PY - 2026

Y1 - 2026

N2 - In recent years, underwater robots have played a key role in exploring marine resources and performing underwater operations. To enhance the power density and efficiency of the system, the lightweight and integrated design of underwater propulsion motors and their control systems has become a significant development trend. This paper investigates a surface-mounted permanent magnet synchronous motor (SPMSM) for underwater propulsion, establishes its mathematical model, and elaborates on the fundamental principles of vector control based on this model. Aiming to improve system integration and power density, a full-speed range vector control strategy for SPMSM based on Hall sensors and sliding mode observer (SMO) is proposed. The specific content and advantages of the hybrid position detection scheme within this control strategy are described, and simulation verification is carried out using MATLAB/Simulink.

AB - In recent years, underwater robots have played a key role in exploring marine resources and performing underwater operations. To enhance the power density and efficiency of the system, the lightweight and integrated design of underwater propulsion motors and their control systems has become a significant development trend. This paper investigates a surface-mounted permanent magnet synchronous motor (SPMSM) for underwater propulsion, establishes its mathematical model, and elaborates on the fundamental principles of vector control based on this model. Aiming to improve system integration and power density, a full-speed range vector control strategy for SPMSM based on Hall sensors and sliding mode observer (SMO) is proposed. The specific content and advantages of the hybrid position detection scheme within this control strategy are described, and simulation verification is carried out using MATLAB/Simulink.

KW - Hall sensors

KW - Surface-mounted permanent magnet synchronous motor

KW - hybrid position detection scheme

KW - sliding mode observer

KW - vector control

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DO - 10.1109/ESEE69148.2026.11601333

M3 - 会议稿件

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T3 - 2026 2nd International Conference on Energy Systems and Electrical Engineering, ESEE 2026

SP - 730

EP - 736

BT - 2026 2nd International Conference on Energy Systems and Electrical Engineering, ESEE 2026

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2nd International Conference on Energy Systems and Electrical Engineering, ESEE 2026

Y2 - 27 March 2026 through 29 March 2026

ER -

Hao Z, An Q , Yang S , Zheng P. A Full-Speed Range Vector Control Strategy for SPMSM Used in Underwater Propulsion Based on Hall Sensors and Sliding Mode Observer. In 2026 2nd International Conference on Energy Systems and Electrical Engineering, ESEE 2026. Institute of Electrical and Electronics Engineers Inc. 2026. p. 730-736. (2026 2nd International Conference on Energy Systems and Electrical Engineering, ESEE 2026). doi: 10.1109/ESEE69148.2026.11601333

A Full-Speed Range Vector Control Strategy for SPMSM Used in Underwater Propulsion Based on Hall Sensors and Sliding Mode Observer

Abstract

Publication series

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UN SDGs

Keywords

Access to Document

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