This paper proposes the application of the NUIO inside a FOC induction motor drive for the simultaneous estimation of the load torque and the rotor speed. The idea is to estimate at first the speed with the current model in parallel with a reference model developed on the basis of the voltage model of the induction machine. Then, the estimated speed is given as input to a nonlinear unknown input observer (NUIO) to estimate the load torque. This estimation is then used to correct the previous estimation of the speed. Simulation and experimental results confirm the goodness of the method for an extended range of speed and different load torque, and they confirm the reduction of error in transient and steady state with respect to a simple MRAS scheme without NUIO.
Mudaliar, H.K., Kumar, D.M., Cirrincione, M., di Benedetto, M., Fagiolini, A. (2021). Improving the speed estimation by load torque estimation in induction motor drives: an MRAS and NUIO approach. In 2021 IEEE 12th Energy Conversion Congress & Exposition - Asia (ECCE-Asia) (pp.2421-2426) [10.1109/ECCE-Asia49820.2021.9479249].