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Comparison of a Reduced-Order Observer and a Full-Order Observer for Sensorless Synchronous Motor Drives

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4 Author(s)
Tuovinen, T. ; Dept. of Electr. Eng., Aalto Univ., Espoo, Finland ; Hinkkanen, M. ; Harnefors, L. ; Luomi, J.

Two back-electromotive-force-based position observers are compared for motion-sensorless synchronous motor drives: the reduced-order observer and the adaptive full-order observer. A stabilizing gain is proposed for the adaptive full-order observer, which guarantees the local stability of the closed-loop system, if the motor parameters are known. Equations for the steady-state position error and for the linearized estimation-error dynamics under erroneous parameters are derived, and the robustness of the two observers against parameter errors is analyzed and compared. The observers are experimentally evaluated using a 6.7-kW synchronous reluctance motor drive in low-speed operation and under parameter errors. The gain selection of the reduced-order observer is easier, but the adaptive full-order observer can be made more robust against parameter variations and noise.

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Industry Applications, IEEE Transactions on  (Volume:48 ,  Issue: 6 )