Comparison of linear observation techniques for robust load torque estimation in actuators

TL;DR

This paper compares two linear observation techniques, the reduced-order Luenberger observer and disturbance observer, for robust load torque estimation in PMSM-based actuators, through theoretical analysis and experimental validation.

Contribution

It provides a comparative analysis of two established linear observers for load torque estimation, highlighting implementation aspects and stability considerations.

Findings

Both observers effectively estimate load torque under certain conditions.

The disturbance observer shows higher sensitivity to model uncertainties.

Experimental results validate the theoretical analysis and compare observer performances.

Abstract

The paper addresses the problem of estimating robustly the external load torque in rotary actuator systems, when only the generated motor drive torque and angular displacement are the available input and output. We compare, theoretically and experimentally, two sufficiently established linear observation techniques (i) reduced-order Luenberger observer and (ii) disturbance observer, both using the same identified model of a permanent magnet synchronous motor (PMSM)-based actuator. Our goal is to highlight several aspects related to the implementation, relative degree of the input-torque to estimated-load-torque transfer characteristics, observer open-loop transfer function, and the associated sensitivity (respectively stability margins) with respect to inherently uncertain system plants. Apart from the developed analysis, a detailed experimental case study is demonstrated where the load torque sensor provides reference measurements and allows for evaluation of both observers.