Vector Control of PMSM Based on Misaligned Hall-Effect Sensors

Hall-effect sensors represent a low-cost and widely employed alternative for estimating position and speed in permanent magnet synchronous motors (PMSMs). However, installation errors, such as angular misalignments between the sensors and the rotor, can introduce phase shifts and signal distortions, significantly compromising measurement accuracy. To mitigate these effects, this work proposes a method that converts the raw signals from the Hall-effect sensors into a Hall vector through the Clarke transformation and applies the adaptive NAF filter to extract the fundamental components of the signal. For validation, the performance of the proposed method is compared with that of the Adaptive Vectorial Filter (AVF), which is widely used in similar applications. The proposed approach is integrated into a synchronization structure based on the Improved Phase-Locked Loop (IPLL), enabling a more stable and accurate estimation of rotor position and speed. The results obtained from both simulations and practical experiments demonstrate that the proposed method exhibits greater robustness to mechanical misalignments, as well as significant improvements in terms of accuracy and dynamic response.