Date of Award

2009

Degree Type

Thesis

Degree Name

M.A.Sc.

Department

Electrical and Computer Engineering

First Advisor

Chen, Xiang (Electrical and Computer Engineering)

Keywords

Engineering, Electronics and Electrical.

Rights

CC BY-NC-ND 4.0

Abstract

Motors are widely used in industries due to its ability to provide high mechanical power in speed and torque applications. Its flexibility to control and quick response are other reasons for its widespread use. Disturbance torque acting on the motor shaft is a major factor which affects the motor performance. Considering the load disturbance torque while designing the control for the motor makes the system more robust to load changes. Most disturbance observers are designed for steady state load conditions. The observer designed here considers a general case making no assumptions about the load torque dynamics. The observer design methods to be used under different disturbance conditions are also discussed and the performances compared. The designed observer is tested in a Hardware-in-Loop (HIL) setup for different load conditions. A motor load torque estimation based Fault Tolerant Control (FTC) is then designed for an Electric Power Steering (EPS) system.

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