A Delay-Aware Method for Inverter Nonlinearity Compensation in Sensorless PMSM Drives

This paper presents a delay-aware observer-side voltage-source inverter (VSI) nonlinearity compensation chain for medium- and high-speed sensorless control of permanent magnet synchronous motors (PMSMs). The method reduces the observer-model voltage mismatch caused by inverter nonlinearities and is implemented with a continuous boundary-layer adaptive-gain sliding-mode observer (ASMO) and a second-order phase-locked loop (PLL). Two-point linear prediction estimates the phase current when the VSI nonlinear voltage error actually takes effect. A C1-continuous cubic zero-crossing weight limits abrupt direction changes near current zero crossings, while a synchronous correlation signal derived from the estimated back electromotive force updates the equivalent distortion-voltage amplitude online. Compensation is applied only to the reconstructed ASMO input voltage, leaving the original current loop and space-vector pulse-width modulation (SVPWM) unchanged. Comparative and ablation simulations show lower characteristic back-EMF harmonics and electrical rotor-position estimation error than conventional compensation. Hardware tests under variable-speed and load-step conditions confirm improved dynamic estimation and disturbance rejection. The intended operating region is medium to high speed, where the back-EMF has sufficient signal-to-noise ratio and a nonsalient machine model is appropriate. The fixed-point realization is reported as implementation-feasibility evidence rather than as the principal contribution.