Sensorless control of PMSM using an adaptively tuned SCKF

• Main Authors: Gulur Raghavendra Gopinath, Prasad Das Shyama
• Format: Article
• Language: English
• Published: Wiley 2019-04-01
• Series: The Journal of Engineering
• Subjects: numerical stability; synchronous motor drives; permanent magnet motors; Kalman filters; nonlinear filters; Bayes methods; sensorless machine control; invertors; data acquisition; NI PCI-6221; National Instruments data acquisition system; square-root algorithm; adaptively tuned square-root cubature Kalman filter; PMSM; sensorless control; speed estimation; third degree spherical-radial cubature rule; position estimation; adaptively tuned SCKF; control algorithms; three-phase inverter-fed PMSM; nonlinear filter; general Bayesian estimation equation; multivariate moment integrals; CKF; improved noise rejection characteristics; permanent magnet synchronous motor drive
• Online Access: https://digital-library.theiet.org/content/journals/10.1049/joe.2018.8081

This study reports the application of an adaptively tuned square-root Cubature Kalman filter (SCKF) for the speed and position estimation of a permanent magnet synchronous motor (PMSM) drive. The proposed estimator is observed to exhibit improved noise rejection characteristics as compared to the hitherto widely applied extended Kalman filter (EKF) observer. A third degree spherical–radial cubature rule is used in the Cubature Kalman filter (CKF) to numerically compute the multivariate moment integrals of the general Bayesian estimation equation. CKF is a non-linear filter which avoids linearisation and the associated errors. The realisation of CKF using the square-root algorithm results in numerical stability, as with the realisation of EKF using the square-root algorithm. Simulation results are presented for a three-phase inverter-fed PMSM, along with the experimental results. The estimator and the control algorithms are realised on the MATLAB real-time environment, interfaced with the hardware using the National Instruments data acquisition system NI PCI-6221.