A new motor speed estimator using Kalman filter in low speed range

In this paper, a new technique to estimate both the motor instantaneous speed and disturbance load torque using a low precision shaft encoder in very low speed range is proposed. To detect the instantaneous speed and disturbance load torque, the Kalman filter which is an optimal full order estimator is used. Experimental results confirm the validity of the proposed estimation technique. The effects of parameter variations are discussed, and it is verified that the system it robust to the modeling error.<
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