Real-time multiple parameter estimation for voltage controlled brushless DC motor actuators

Brushless DC motors have been widely used as actuators in mechatronic systems. A non-dynamic motor inverse model, which neglects the electrical dynamics of the motor, is usually employed to achieve torque control of the motor. Variations of the motor parameters due to environmental factors, temperature, build variations, aging, etc. directly impart inaccuracies in the inverse motor model, and thus the dynamic performance of the system suffers. A multi-parameter estimation scheme is proposed in this paper. Improvements for the dynamic performance of the estimator are discussed. Comparison of closed loop simulations for voltage control BLDC motor in an electric power steering system confirms a lower bound of error of the estimated parameter and faster adaptation with the proposed improved estimation scheme