Torque Control of a DC Motor with a State Space Estimator and Kalman Filter Applied in Electrical Vehicles

Abstract

This work presents a study over a torque-generated speed control of free wheel attached to a DC motor, for use on traction of mobile vehicles. Also, it presents the discrete state space model of a DC model and the Kalman filter's equations and applications. This work presents a hardware-in-the-loop (HIL) system for design of a torque controller noticed that this process produces a faster design, coding, and parameter optimization of any embedded systems. The hardware used for the implementation of the system is discussed as the hardware-in-the-loop environment which makes possible the fast tuning and design of the system. In the absence of a torque sensor, this work uses the Kalman filter's estimated states torque and speed as feedbacks of the system.

Robust Velocity and Load Observer for a General Noisy Rotating Machine

“…Connected with this, there is the problem of the periodic fluctuations in velocity in the rotating shaft, which introduce important errors that affect the performance of the general rotodynamic applications; see [7,8]. More recent works that can be found in the literature dealing with the problem of load torque estimation in cases considering noise include [9][10][11][12][13][14][15]. Nonetheless, these approaches are different from the solution proposed in this paper.…”