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CCS: PMSM speed

Tool/software: Code Composer Studio

A question from HVPM Sensorless

code: speed_est.h

Why is not the same as the principles and code(K2 and K3)l? Software library  has introduced it, but I don't understand well. The motor speed with the some literature is the direct derivation. With  the method from speed_est.h can make the speed precision is higher? I want to know more detail of this method. If you know about it, please tell me. Thank you.