sliding mode angle is shifted with respect to sensored angle due to first order low pass filter.I have introduced the compensation that is (atan(w/wc) however still it is not sync with the sensored angle which makes loop unstable.How to rectify this problem?
An atan() compensation ? Does not seem to make any sense. Your signal delay is some TLP, the angular error depends on the current RPMs.
If I get it right in the middle of the night, is should be something like
phicorr = 2 PI * (TLP/Tact) Tact being the current time for 1 revolution.
BTW: as you should see, too much of lowpass filtering does no good.
Regards
To be more specific first order lowpass filter is adding phase delay of -atan(w/wc) after which we extract ealpha ebeta information.That is why i am just adding atan(w/wc) value to theta derived from sliding mode control however after compensation it is not matching with sensored angle.
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