Sensorless speed control of DC servo motor using Kalman filter

Abstract

This research aims to study speed sensorless DC motor control using Kalman filter. Kalman filter considers the DC motor mathematical model. The model will start from a continuous state space into a discrete state space form. Inputs of the system are the armature voltage and the armature current with noises. The output of the system is the estimated speed. Kalman filter is used to estimate the speed without noise interference. The result from the estimated speed will be compared with the reference speed and the speed error will be used by the controller to control the linear amplifier. The final output is the constant speed of the DC motor. Even though the load of the DC motor changed the speed of the DC motor remains constant under the control. The experiment shows that Kalman filter can reject the noise from the system and can estimate the speed of the DC motor with a high accuracy. The estimated speed will be feedback to control the system for constant speed. ©2009 IEEE.