Back-EMF Observer
Back-EMF observer based on R&L Modeling
d-q Voltage
$$ \begin{aligned} u_d &= (R_s + p L_d )i_d - {\omega_e L_q} i_q \\ u_q &= (R_s + p L_q )i_q + {\omega_e L_d} i_d + e_q \\ \end{aligned} $$Back-EMF $e_q = \omega_e {\it\Psi_f}$
Back-EMF observer based on R&L Modeling
d-q Voltage
$$ \begin{aligned} u_d &= (R_s + p L_d )i_d - {\omega_e L_q} i_q \\ u_q &= (R_s + p L_q )i_q + {\omega_e L_d} i_d + e_q \\ \end{aligned} $$Back-EMF $e_q = \omega_e {\it\Psi_f}$