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An Application of the Extended Kalman Filter for a Sensorless Stepper Motor Drive Working With Long Cables

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4 Author(s)
Masi, A. ; Eng. Dept., Conseil Eur. pour la Rech. Nucl., Geneva, Switzerland ; Butcher, M. ; Martino, M. ; Picatoste, R.

In this paper, an approach is proposed for the application of an extended Kalman filter (EKF) to a sensorless stepper motor drive, when the motor is separated from its drive by long cables. When the long cables and high-frequency pulsewidth-modulated control voltage signals are used together, the electrical signals differ greatly between the motor and drive sides of the cable. Since we consider the case where only drive-side data are available, it is therefore necessary to estimate the motor-side signals. Modeling the entire cable and motor system in an EKF is too computationally intensive for standard embedded real-time platforms. It is, therefore, proposed to divide the problem into an EKF, based only on the motor model, and separate motor-side signal estimators, the combination of which is less computationally demanding. The proposed approach's effectiveness is demonstrated in simulation.

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Industrial Electronics, IEEE Transactions on  (Volume:59 ,  Issue: 11 )