International Journal of Power Electronics and Drive Systems (IJPEDS) Vol. 15, No. 3, September 2024, pp. 1358~1368 ISSN: 2088-8694, DOI: 10.11591/ijpeds.v15.i3.pp1358-1368  1358 Journal homepage: http://ijpeds.iaescore.com Real-time advanced sensorless control of axial flux synchronous motor Amir Yassin Hassan 1 , Essamudin Ali Ebrahim 1 , Saber Mohamed Saleh Salem 2 , Mohamed Elzalik 3 1 Department of Power Electronics and Energy Conversion, Electronics Research Institute, Cairo, Egypt 2 Department of Electrical Engineering, Faculty of Engineering, Fayoum University, Fayoum, Egypt 3 Department of Process Control Technology, Faculty of Technology and Education, Beni-Suef University, Beni-Suef, Egypt Article Info ABSTRACT Article history: Received Nov 12, 2023 Revised Mar 10, 2024 Accepted Mar 29, 2024 Interior rotor axial flux permanent magnet synchronous motor (IRAFSM) sensorless control is essential to inject the motor inside the electric vehicles’ tire. The proposed straight-line guided by the reference speed (SLGBRS) sensorless space vector pulse width modulation (SVPWM) inverter-direct torque control (DTC) technique for driving the IRAFSM used for electric vehicles (EVs) is evaluated using laboratory emulator setup. A hardware-in- the-loop (HIL) controller and data acquisition are used as a real-time emulation, while the results are compared with MATLAB simulation results. Both simulation and real-time application of the proposed sensorless control for the IRAFSM offer a good speed response. The results of real-time evaluation are identical with the simulation results so, the control is accurate and suitable for practical applications. Urban dynamometer driving cycle (UDDS) for heavy-duty vehicles is used as a driving cycle for simulation and real time evaluation. UDDS is used to ensure the reliability of the proposed control against a wide range of speed changes to be applicable for many applications. The proposed technique allows utilizing the IRAFSM in many applications that requires less contact and reduced sensors like robotics and inside EV’s tire with a good reliable control. Keywords: Direct torque control Electric vehicles IRAFSM Real-time SLGBRS Urban dynamometer driving cycle This is an open access article under the CC BY-SA license. Corresponding Author: Amir Yassin Hassan Department of Power Electronics and Energy Conversion, Electronics Research Institute Joseph Tito St, Huckstep, El Nozha, Cairo, Egypt Email: amir@eri.sci.eg NOMENCLATURE  da , qa : Stator d-q axis voltages   : Electromagnetic torque  da , qa : Stator d-q axis currents P : Pole -pairs number   ,  : Flux in d-q axis   : Stator windings field flux R sa : Resistance of stator windings   : Stator current vector   : Inductance of the d axis   : Load torque   : Inductance of the q axis ω r : Angular speed of the rotor ψ f : Rotor windings field flux Β : The damping factor  : Torque angle  : IRAFSM inertia  : The sector from 1 – 6   : Angular speed ̅  & ̅  : The reference d-q axis currents  : Straight-line slope ̂  & ̂  : The estimated d-q axis currents   ,  : The estimated and demand speed  : The fixed clock frequency   , ψ , T : Error in speed, flux, and torque respectively