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Motor-Side Angle Estimation based on Extended Kalman Filter for Two-Mass System with Lode-Side Encoder

Recently, geared motors, motors with which reduction gears and encoders are integrated, are developed and are becoming common. If a reduction gear and an encoder are integrated with a motor, it is possible to arrange the encoder on the load side instead of the motor side and to control the load-side angle with the full-closed loop control. The paper proposes the motor-side angle estimation for the two-mass system with a load-side encoder to realize the full-closed loop control without a motor-side encoder. The paper defines the non-linear state-space equations by considering not only the dynamics model of the two-mass system but also the voltage equation based on the power electronics region. The proposed method is designed based on the non-linear state-space equation and expanded Kalman filter, one of the non-linear Kalman filters. The paper shows the effectiveness of the proposed method with the simulation results.