L-2-Stable Speed Estimator for BLDCM Servo System Applications

Abstract

This study aims to solve the brushless DC motor speed estimation problem using Hall sensor measurements without dependence of plant parameter and load information. As the first feature, the proposed solution involves a combination of linear (in the Luenberger observer form) and nonlinear subsystems without motor parameter information for the estimation algorithm and the gains. The second feature is showing that the proposed estimator makes the error dynamics L-2-stable, assigning the desired energy and diagonal damping to the closed-loop system. The superiority of the proposed solution is verified using a 420W motor-generator hardware testbed for the current and speed control operation modes.