Comparison of a sliding observer and a Kalman filter for direct-torque-controlled IPM synchronous motor drives

Zhuang Xu; M. F. Rahman

doi:10.1109/TIE.2012.2188252

Comparison of a sliding observer and a Kalman filter for direct-torque-controlled IPM synchronous motor drives

Zhuang Xu, M. F. Rahman

Department of Electrical and Electronic Engineering

Research output: Journal Publication › Article › peer-review

101 Citations (Scopus)

Abstract

The estimation accuracy of the stator flux and speed using open-loop integrators drops as the mechanical speed reduces in direct-torque-controlled (DTC) interior-permanent-magnet (IPM) synchronous motors. At lower speed, inaccurately estimated stator flux and stator resistance mismatch have significant influence on the steady-state and transient performance of the drive system. The robustness against parameter detuning and signal noises can be improved by deploying closed-loop observers with estimated stator flux and rotor speed. This paper presents a comparison of two stator-flux and speed observers for variable-structure DTC IPM motor drives: an adaptive sliding observer and an extended Kalman filter (EKF). The experimental comparison of the adaptive sliding observer and the EKF regards steady-state and dynamic performance, robustness against parameter uncertainties, stability, and computational complexity. Recommendations for observer selection and the effectiveness of the various schemes are concluded.

Original language	English
Article number	6153369
Pages (from-to)	4179-4188
Number of pages	10
Journal	IEEE Transactions on Industrial Electronics
Volume	59
Issue number	11
DOIs	https://doi.org/10.1109/TIE.2012.2188252
Publication status	Published - Nov 2012

Keywords

Direct torque controlled (DTC)
extended Kalman filter (EKF)
interior permanent magnet (IPM)
sliding observer

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/TIE.2012.2188252

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title = "Comparison of a sliding observer and a Kalman filter for direct-torque-controlled IPM synchronous motor drives",

abstract = "The estimation accuracy of the stator flux and speed using open-loop integrators drops as the mechanical speed reduces in direct-torque-controlled (DTC) interior-permanent-magnet (IPM) synchronous motors. At lower speed, inaccurately estimated stator flux and stator resistance mismatch have significant influence on the steady-state and transient performance of the drive system. The robustness against parameter detuning and signal noises can be improved by deploying closed-loop observers with estimated stator flux and rotor speed. This paper presents a comparison of two stator-flux and speed observers for variable-structure DTC IPM motor drives: an adaptive sliding observer and an extended Kalman filter (EKF). The experimental comparison of the adaptive sliding observer and the EKF regards steady-state and dynamic performance, robustness against parameter uncertainties, stability, and computational complexity. Recommendations for observer selection and the effectiveness of the various schemes are concluded.",

keywords = "Direct torque controlled (DTC), extended Kalman filter (EKF), interior permanent magnet (IPM), sliding observer",

author = "Zhuang Xu and Rahman, {M. F.}",

note = "Funding Information: Manuscript received December 30, 2010; revised April 24, 2011, July 21, 2011, October 29, 2011, and December 15, 2011; accepted January 24, 2012. Date of publication February 16, 2012; date of current version June 19, 2012. This work was supported by the National Natural Science Foundation of China under Grant 50777013. Z. Xu is with the University of Nottingham Ningbo China, Ningbo 315100, China (e-mail: zhuang.xu@nottingham.edu.cn). M. F. Rahman is with the University of New South Wales, Sydney, N.S.W. 2052, Australia (e-mail: f.rahman@unsw.edu.au). Color versions of one or more of the figures in this paper are available online at http://ieeexplore.ieee.org. Digital Object Identifier 10.1109/TIE.2012.2188252",

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N2 - The estimation accuracy of the stator flux and speed using open-loop integrators drops as the mechanical speed reduces in direct-torque-controlled (DTC) interior-permanent-magnet (IPM) synchronous motors. At lower speed, inaccurately estimated stator flux and stator resistance mismatch have significant influence on the steady-state and transient performance of the drive system. The robustness against parameter detuning and signal noises can be improved by deploying closed-loop observers with estimated stator flux and rotor speed. This paper presents a comparison of two stator-flux and speed observers for variable-structure DTC IPM motor drives: an adaptive sliding observer and an extended Kalman filter (EKF). The experimental comparison of the adaptive sliding observer and the EKF regards steady-state and dynamic performance, robustness against parameter uncertainties, stability, and computational complexity. Recommendations for observer selection and the effectiveness of the various schemes are concluded.

AB - The estimation accuracy of the stator flux and speed using open-loop integrators drops as the mechanical speed reduces in direct-torque-controlled (DTC) interior-permanent-magnet (IPM) synchronous motors. At lower speed, inaccurately estimated stator flux and stator resistance mismatch have significant influence on the steady-state and transient performance of the drive system. The robustness against parameter detuning and signal noises can be improved by deploying closed-loop observers with estimated stator flux and rotor speed. This paper presents a comparison of two stator-flux and speed observers for variable-structure DTC IPM motor drives: an adaptive sliding observer and an extended Kalman filter (EKF). The experimental comparison of the adaptive sliding observer and the EKF regards steady-state and dynamic performance, robustness against parameter uncertainties, stability, and computational complexity. Recommendations for observer selection and the effectiveness of the various schemes are concluded.

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Comparison of a sliding observer and a Kalman filter for direct-torque-controlled IPM synchronous motor drives

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