Sensorless Load Torque Estimation and Passivity Based Control of Buck Converter Fed DC Motor

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/tswj/volume-2015/132843/figures/132843.fig.0019a.svgz" name="132843.fig.0019a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Simulation</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/tswj/volume-2015/132843/figures/132843.fig.0019b.svgz" name="132843.fig.0019b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Hardware</td></tr></table>

<div>Estimated torque: <svg height="15.3916pt" id="M110" style="vertical-align:-3.313499pt" version="1.1" viewbox="-0.0498162 -12.0781 34.979 15.3916" width="34.979pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M620 675H597C578 656 570 650 541 650H144C112 650 104 653 94 675H72C59 618 42 552 23 493L53 491C71 534 88 564 105 585C124 608 144 615 238 615H290L197 121C182 40 174 34 88 28L82 0H361L367 28C275 34 266 38 281 121L374 615H441C522 615 543 608 553 583C562 560 566 531 565 493L597 494C603 551 612 629 620 675Z" id="g113-85"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="637" vert-adv-y="637"></glyph.data></g><g transform="matrix(.0095,0,0,-0.0095,7.479,3.264)"><path d="M567 167L534 181C505 122 482 94 454 70C428 46 385 42 330 42C288 42 248 44 235 55C216 70 213 91 220 130L295 528C310 609 314 611 401 618L409 650H140L131 618C222 611 224 609 209 528L133 126C118 47 108 41 25 33L18 0H497C514 33 554 126 567 167Z" id="g50-77"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="579" vert-adv-y="579"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,13.317,0)"><path d="M545 106L524 126C493 85 467 65 455 65C438 65 427 113 405 238C448 295 498 362 543 439L533 448L478 435C453 386 423 331 398 295H395C370 404 347 448 282 448C169 448 23 309 23 153C23 54 65 -12 128 -12C203 -12 283 70 339 155H341C360 29 380 -12 411 -12C444 -12 491 11 545 106ZM333 204C265 95 210 54 169 54C137 54 113 96 113 171C113 302 191 405 252 405C301 405 318 306 333 204Z" id="g113-223"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="568" vert-adv-y="568"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,21.014,0)"><path d="M615 290C615 392 563 448 529 448C511 448 491 441 484 434L483 425C518 400 546 349 546 273C546 158 504 46 417 46C381 46 356 77 356 142C356 184 380 293 392 334L387 340L307 323C305 288 296 228 287 188C265 94 221 52 180 52C144 52 112 89 112 171C112 278 164 372 241 430L226 454C106 394 23 288 23 155C23 40 79 -12 139 -12C184 -12 245 32 285 85C292 31 322 -12 376 -12C423 -12 470 18 501 45C570 104 615 184 615 290Z" id="g113-246"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="638" vert-adv-y="638"></glyph.data></g><g transform="matrix(.0095,0,0,-0.0095,29.659,-5.984)"><path d="M290 377C321 398 342 415 358 430C378 450 389 473 389 502C389 578 329 635 238 635H237C184 635 137 610 109 578L64 515L88 493C112 529 154 573 208 573S303 542 303 482C303 409 233 370 141 341L149 308C165 313 190 319 215 319C272 319 341 283 341 193C342 98 292 43 222 43C163 43 122 72 96 94C88 101 79 100 70 94C61 87 47 73 46 60C44 47 48 37 62 23C76 10 118 -12 165 -12C238 -12 430 62 430 223C430 297 379 359 290 375V377Z" id="g50-52"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g></svg>.</div>

The Scientific World Journal

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Figure 19

Figure 19: Sensorless Load Torque Estimation and Passivity Based Control of Buck Converter Fed DC Motor 