Sensorless Control for Joint Drive Unit of Lower Extremity Exoskeleton with Cascade Feedback Observer

Figure 8

Compare simulation results of cascade feedback observer and ISF-SMO. (a), (c), (e), and (h) are the results of ISF-SMO, and (b), (d), (f), and (g) are the results of cascade feedback observer.

(a) Identification result of ISF-SMO when speed is 1000 rpm.

(b) Identification result of cascade feedback observer when speed is 1000 rpm.

(c) Identification result of ISF-SMO when speed is from 500 rpm to 2000 rpm.

(d) Identification result of cascade feedback observer when speed is from 500 rpm to 2000 rpm.

(e) Identification result of ISF-SMO when speed is 1000 rpm with load 10Nm at 0.05s.

(f) Identification result of cascade feedback observer when speed is 1000 rpm with load 10Nm at 0.05s.

(g) Identification result of ISF-SMO when speed is 60 rpm.

(h) Identification result of cascade feedback observer when speed is 60 rpm.