Publication

Steady state Kalman filtering for sensorless control of hybrid stepper motors

Yves Perriard, Jan Persson
2003
Conference Papers

Abstract

Extended Kalman filtering techniques have been successfully used as sensorless control schemes on many different types of synchronous motors. One big disadvantage of the extended Kalman filtering technique is the large computational cost. Even with today's powerful DSPs, it is difficult to achieve effective real-time implementations. It is especially problematic for high speed motors or motors with many pole pairs such as hybrid stepper motors. In this article, it is shown how a steady-state version of the Kalman filter can be used to calculate the rotor position and speed for a hybrid stepper motor. By using a steady-state Kalman filter the computational effort can be drastically reduced. The proposed method is verified by a closed loop simulation of a hybrid stepper motor with additional current and speed regulators

Official source

https://infoscience.epfl.ch/entities/publication/1dc7b525-7895-4ac1-bf7b-8b70df8003b3

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Yves Perriard, Jan Persson
2003
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/1dc7b525-7895-4ac1-bf7b-8b70df8003b3

About this result

Related concepts (32)

Electric motor

An electric motor is an electrical machine that converts electrical energy into mechanical energy. Most electric motors operate through the interaction between the motor's magnetic field and electric current in a wire winding to generate force in the form of torque applied on the motor's shaft. An electric generator is mechanically identical to an electric motor, but operates with a reversed flow of power, converting mechanical energy into electrical energy.

Kalman filter

For statistics and control theory, Kalman filtering, also known as linear quadratic estimation (LQE), is an algorithm that uses a series of measurements observed over time, including statistical noise and other inaccuracies, and produces estimates of unknown variables that tend to be more accurate than those based on a single measurement alone, by estimating a joint probability distribution over the variables for each timeframe. The filter is named after Rudolf E. Kálmán, who was one of the primary developers of its theory.

Stepper motor

A stepper motor, also known as step motor or stepping motor, is a brushless DC electric motor that divides a full rotation into a number of equal steps. The motor's position can be commanded to move and hold at one of these steps without any position sensor for feedback (an open-loop controller), as long as the motor is correctly sized to the application in respect to torque and speed. Switched reluctance motors are very large stepping motors with a reduced pole count, and generally are closed-loop commutated.

Related publications (32)

Steady state Kalman filtering for sensorless control of hybrid stepper motors

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