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Unscented and extended Kalman filters study for sensorless control of PM synchronous motors with load torque estimation


[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] employee

Year of publication


Published in

Bulletin of the Polish Academy of Sciences. Technical Sciences

Journal year: 2013 | Journal volume: vol. 61 | Journal number: no. 4

Article type

scientific article

Publication language


  • Kalman filters
  • control system synthesis
  • machine vector control
  • sensorless drives
  • velocity control
  • permanent magnet synchronous motor

EN This paper describes a study and the experimental verification of sensorless control of permanent magnet synchronous motors using Kalman filters. There are proposed two structures, extended and unscented Kalman filters, which use only the measurement of the motor current for on-line estimation of speed, rotor position and load torque reconstruction. The Kalman filter is an optimal state estimator and is usually applied to a dynamic system that involves a random noise environment. These structures are described in detail, starting with the selection of the variables state vector, the filters structure, and ending with in-depth laboratory tests. It has become possible, without using position and torque sensors, to apply these control structures as a cost-effective solution. Experimental results confirm the validity of the proposed estimation techniques.

Pages (from - to)

793 - 801




Ministry points / journal


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