Accurate position control for AC servo motor using novel speed estimator

In this paper, an accurate position control using a new estimator which estimates the instantaneous speed and position with a low precision shaft encoder is proposed. The overall performance of the position control system is strongly dependent on the accuracy of the position information and the performance of the speed controller in the low speed range. In this paper the position and speed of the motor are obtained from a Kalman filter which is an optimal full order estimator. This estimator has good performance even in a very low speed range include standstill. The simulation and experimental results confirm the validity of the proposed estimation and control technique