Sensorless Torque Estimation using Adaptive Kalman Filter and ...

plant model as its sub-model. In addition, we used a PID
controller for the disturbance estimation. However, any kind
of controller and control technique can be used which can
make the estimator stable.
Fig. 8.
Fig. 9.
Measurement (Disturbance Estimator)
Estimation result of the disturbance estimator
of the disturbance estimator again.
VI. CONCLUSIONS
This paper proposed a stochastic estimation method and
a signal processing based method for the purpose of disturbance
torque estimation without force sensors. The AKF
based method presented robustness against the measurement
noise. When the measurements have a lot of noise, and its
characteristic is unknown, this method can be one of the
reliable methods.
Through the section IV and V, we proposed several merits
of the disturbance estimator, and they can be summarized
as follows: (i) Wherever the disturbance injected between
two measurements(I and θ I,D ), the disturbance estimator
estimates the total disturbance as asymptotically stable. (ii)
The disturbance estimator inherits the structure of the system
model. Thus it provide the instinctive and direct application.
(iii) Unrestricted selection of the measurement type is possible.
(iv) We can determine the types of disturbance included
in the total disturbance by considering sub-model of the
disturbance estimator. In addition to the merits mentioned
above, when the disturbance estimator used for feedback
compensation, the disturbance estimator will try to make
the system act as same with the sub-model. Because all
the effects not considered in the sub-model is estimated
as the disturbance. In consequence, direct and fast loop
shaping could be achieved. Feedback control, loop shaping
and extending to the nonlinear disturbance estimator are our
future works. In this paper, a DC motor model is used
for total disturbance estimation. However, the disturbance
estimator can be used in countless system simply having the
ACKNOWLEDGEMENT
This research was supported by the institute of Medical
System Engineering(iMSE) in the GIST, and by the
MKE(The Ministry of Knowledge Economy), Korea, under
the ITRC(Information Technology Research Center) support
program supervised by the NIPA(National IT Industry Promotion
Agency) (NIPA-2010-C1090-1031-0006)
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