Design and implementation of the extended Kalman filter for thespeed and rotor position estimation of brushless DC motor

A method for speed and rotor position estimation of a brushless DC motor (BLDCM) is presented in this paper. An extended Kalman filter (EKF) is employed to estimate the motor state variables by only using measurements of the stator fine voltages and currents. When applying the EKF, it was necessary to solve some specific problems related to the voltage and current waveforms of the BLDCM. During the estimation procedure, the voltage- and current-measuring signals are not filtered, which is otherwise usually done when applying similar methods. The voltage average value during the sampling interval is obtained by combining measurements and calculations, owing to the application of the predictive current controller which is based on the mathematical model of motor. Two variants of the estimation algorithm are considered: (1) speed and rotor position are estimated with constant motor parameters and (2) the stator resistance is estimated simultaneously with motor state variables. In order to verify the estimation results, the laboratory setup has been constructed using a motor with ratings of 1.5 kW, 2000 r/min, fed by an insulated gate bipolar transistor inverter. The speed and current controls, as well as the estimation algorithm, have been implemented by a digital signal processor (TMS320C50). The experimental results show that is possible to estimate the speed and rotor position of the BLDCM with sufficient accuracy in both steady-state and dynamic operation. Introducing the estimation of the stator resistance, the speed estimation accuracy is increased, particularly at low speeds. At the end of the paper, the characteristics of the sensorless drive are analyzed. A sensorless speed control system has been achieved with maximum steady-state error between reference and actual motor speed of ±1% at speeds above 5% of the rated value     

Modeling and control of a synchronous generator with an active DCload

The design and analysis of a system consisting of a variable-speed synchronous generator that supplies an active DC load (inverter) through a three-phase diode rectifier requires adequate modeling in both time- and frequency-domains. As an example, the system's control-loops are difficult to design without an accurate small-signal model; at the same time, the system protection design requires large-signal transient modeling. A particularity of the described system is strong nonideal operation of the diode rectifier, a consequence of the large value of the generator's synchronous impedance. This nonideal behavior influences both steady-state and transient performance. This paper presents an average model of the system that accounts, in a detailed manner for the dynamics of the power source and the load, and for the effects of the nonideal operation of the diode rectifier. The model is nonlinear, but time-continuous, and can be used for large- and small-signal analysis. The developed model was verified on a 105 kW generator-set with inverter output, whose DC-link voltage control-loop design was successfully carried out based on the average model. It is shown that a high bandwidth is needed for this control-loop in order to achieve the proper impedance matching between the power source and the active electronic load