Speed and position estimation of brushless DC motor in very low speeds

The paper proposes a method to detect and control the speed and the position of a BLDC motor with a low resolution position encoder in very low speeds of several rad/sec. The low resolution encoder could be the Hall effect sensor that has a resolution of 60 electrical degrees maximum, according to the pole number of the motor. The proposed algorithm used a Kalman filter (KF). The position and the current are sampled. The algorithm was simulated on MATLAB/spl copy/, and the simulation results were valuable.