An Optimized Extended Kalman Filter Algorithm for Hybrid Stepper Motors
In this article a high performance Extended Kalman filter algorithm is used to estimate rotor speed, rotor position and load torque in a Hybrid Stepper Motor (HSM). Together with a PI speed controller, the Kalman filter forms a very robust sensorless closed loop system. During acceleration the motor is capable of running in closed loop from 0-100% of the nominal speed. The controller can handle charge steps of over 50% of the maximum load torque, and acceleration up to 13 [krad/s 2]. To achieve theses good dynamic capabilities, the Kalman filter is optimized by an off-line identification process. This gives a very good match between the model and the real system. The standstill position at start-up is estimated by a current injection method. Due to the optimized Kalman filter the experimental results show very good precision and closed loop robustness for a 10.5 [W] HSM. The algorithm is implemented on a floating point DSP. The driver consists of two H-bridges with MOSFET transistors. The currents are measured with one shunt resistor for each phase.
Integrated Actuators Laboratory, Inst. of Manufacturing and Robotics, Swiss Fed. Inst. Technol. Lausanne, 1015 Lausanne, Switzerland
Cited By: 0; Export Date: 15 May 2006; Source: Scopus
Record created on 2006-06-15, modified on 2016-08-08