Optimal setting of PMSM observer parameters using 2D experimental designs

Attention is focused in this paper, on the Matsuipsilas position observer structure, which is based on the back emf estimation for a permanent magnet synchronous machine. This structure includes gains and filters that have to be tuned, in order to reach the best possible convergence. An optimized experimental tuning of these gains in different PMSM operating points at low speed is depicted. The optimal and robust gains and bandwidths depend on the different conditions for torque and velocity using a 2D experimental design approach. Two optimal sets of parameters are identified under large load variations and noise on current measurements. They lead to effective stability and good convergence performance. Experimental validations are conduced on an actual actuator.