Abstract：Due to the low resolution and precision of the Hall-effect sensors, angular acceleration calculation for a permanent magnet brushless DC motor(BLDCM) may suffer from large errors. In order to solve this problem, a novel method of angular acceleration estimation using dual observers is proposed, which is based on the position information containing in the normalized back electromotive force(EMF). A sliding-mode observer(SMO) is employed to estimate the α- and β- axis back EMF waveforms in the stationary reference frame. Meanwhile the normalized values of the back EMFs are deduced to minimize the high order harmonics and eliminate the influences of speed and flux linkage coefficients. Then, an extended Kalman filter(EKF) is designed to extract the position information and estimate the angular acceleration from the normalized back EMF values, where the influence of motor torque on angular acceleration is taken into account. Experimental results, using RT-LAB real time controller implementation, prove that within a wide speed range angular acceleration of the BLDCM can be effectively estimated by the proposed method.
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2014, Vol. 29 
