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

Table 2

(a) Comparison between SAA and SROO: simulation study. (b) Comparison between SAA and SROO: hardware implementation.

(a)

S. number	Time (seconds)	(p. u.)	(p. u.)	Speed settling time (seconds)
				SROO1	SROO2	SAA
	(a) Constant load torque
1	3	0.500	0.25	0.90	0.50	0.20
2	7	1.000	1.00	1.20	0.60	0.20
3	11	0.675	0.75	1.10	0.50	0.20
				Load torque estimation time (seconds)
4	3	0.500	0.25	1.00	0.50	0.20
5	7	1.000	1.00	1.20	0.70	0.20
6	11	0.675	0.75	1.20	0.60	0.20
	(b) Frictional load torque
				Speed settling time (seconds)
7	0.0–2.5	0.500	0.50	1.4	0.78	0.38
8	2.5–5.0	1.000	1.00	1.4	0.78	0.38
9	5.0–8.0	0.682	0.682	1.4	0.78	0.38
				Load torque estimation time (seconds)
10	0.0–2.5	0.500	0.50	1.4	0.7	0.01
11	2.5–5.0	1.000	1.00	1.4	0.7	0.01
12	5.0–8.0	0.682	0.682	1.4	0.7	0.01
	(c) Fan type load torque
				Speed settling time (seconds)
13	1.0–2.0	Linear variation	Squared of speed	0.8	0.4	0.20
14	3.0–6.0			1.5	0.8	0.25
15	6.0–9.0			1.2	0.4	0.20
				Load torque estimation time (seconds)
16	1.0–2.0	Linear variation	Squared of speed	1.0	0.2	0.01
17	3.0–6.0			2.0	0.4	0.01
18	6.0–9.0			2.0	0.4	0.01
	(d) Propeller type load torque
				Speed settling time (seconds)
19	1.0–3.0	Linear variation	Cube of speed	0.7	0.325	0.15
20	3.0–6.0			1.8	1.000	0.30
21	6.0–9.0			1.5	0.600	0.25
				Load torque estimation time (seconds)
22	1.0–3.0	Linear variation	Cube of speed	1.0	0.5	0.2
23	3.0–6.0			2.2	1.5	0.5
24	6.0–9.0			2.0	1.0	0.5

(b)

S. number	Time (seconds)	(p. u.)	(p. u.)	Speed settling time (seconds)
				SROO1	SROO2	SAA
	Constant load torque
1	3	0.500	0.25	1.00	0.60	0.25
2	7	1.000	1.00	1.40	0.80	0.30
3	11	0.675	0.75	1.20	0.60	0.30
				Load torque estimation time (seconds)
4	3	0.500	0.25	1.20	0.60	0.30
5	7	1.000	1.00	1.40	0.80	0.30
6	11	0.675	0.75	1.40	0.70	0.30
	Frictional load torque
				Speed settling time (seconds)
7	0.0–2.5	0.500	0.50	1.6	0.85	0.44
8	2.5–5.0	1.000	1.00	1.6	0.85	0.44
9	5.0–8.0	0.682	0.682	1.6	0.85	0.44
				Load torque estimation time (seconds)
10	0.0–2.5	0.500	0.50	1.5	0.8	0.02
11	2.5–5.0	1.000	1.00	1.5	0.8	0.02
12	5.0–8.0	0.682	0.682	1.5	0.8	0.02
	Fan type load torque
				Speed settling time (seconds)
13	1.0–2.0	Linear variation	Squared of speed	1.0	0.6	0.24
14	3.0–6.0			2.0	1.0	0.40
15	6.0–9.0			1.4	0.6	0.24
				Load torque estimation time (seconds)
16	1.0–2.0	Linear variation	Squared of speed	1.1	0.3	0.02
17	3.0–6.0			2.2	0.6	0.02
18	6.0–9.0			2.2	0.6	0.02
	Propeller type load torque
				Speed settling time (seconds)
19	1.0–3.0	Linear variation	Cube of speed	0.8	0.375	0.20
20	3.0–6.0			2.0	1.250	0.40
21	6.0–9.0			1.8	0.700	0.3
				Load torque estimation time (seconds)
22	1.0–3.0	Linear variation	Cube of speed	1.2	0.6	0.3
23	3.0–6.0			2.4	1.6	0.6
24	6.0–9.0			2.2	1.2	0.6