Practical considerations for implementing the discrete extended Kalman filter in real time with a digital signal processor are discussed. The system considered is a permanent magnet synchronous motor (PMSM) without a position sensor, and the extended Kalman filter is designed for the online estimation of the speed and rotor position by only using measurements of the motor voltages and currents. The algorithms developed to allow efficient computation of the filter are presented. The computational techniques used to simplify the filter equations and their implementation in fixed-point arithmetic are discussed. Simulation and experimental results using the TMS 320C25 digital signal processor are presented to demonstrate the feasibility of this estimation process.
Bibliographical noteFunding Information:
The authors wish to thank Texas Instruments Inc. for providing the TMS320C25 development tools. The financial support of this project by the University of Minnesota Center for Electric Energy is gratefully acknowledged.