Steady state Kalman filtering for sensorless control of hybrid stepper motors

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


Published in:
IEMDC'03. IEEE International Electric Machines and Drives Conference (Cat. No.03EX679), vol.2, Copyright 2003, IEE, 1174-1177
Presented at:
Madison, WI, USA
Year:
2003
Publisher:
IEEE
Keywords:
Note:
Integrated Actuators Lab., Swiss Fed. Inst. of Technol., Lausanne, Switzerland Also available on CD-ROM in PDF format 7686192 steady state Kalman filtering sensorless control hybrid stepper motors extended Kalman filtering synchronous motors sensorless control schemes DSP rotor position calculation rotor speed calculation closed loop simulation speed regulators current regulators
Laboratories:




 Record created 2006-06-15, last modified 2018-03-17


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