Position Sensorless Control Based on Augmented Extended Kalman Filter for Permanent Magnet Linear Synchronous Motor

2011 ◽  
Vol 88-89 ◽  
pp. 350-354
Author(s):  
Hua Cai Lu ◽  
Ming Jiang ◽  
Li Sheng Wei ◽  
Bing You Liu
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Sensorless Control ◽  
Estimation Method ◽  
Estimation Algorithm ◽  
The State ◽  
State Variable ◽  
Detailed Explanation ◽  
System States ◽  
Position Sensorless

In order to achieve position sensorless control for PMLSM drive system, speed and position of the motor must be estimated. A novel sensorless position and speed estimation algorithm was designed for PMLSM drive by measuring terminal voltages and currents. That was state augmented extended Kalman filter (AEKF) estimation method. The resistance of the motor was augmented to the state variable. Then, the speed, position and the resistance were estimated simultaneously through extended Kalman filter (EKF). The influence of the resistance on the state estimation results could be reduced. As well as giving a detailed explanation of the new algorithm, experimental results were presented. It shows that the AEKF is capable of estimating system states accurately and reliability, and the proposed sensorless control system has a good dynamic response.

Applications of Extended Kalman Filter for Position Sensorless Control of Permanent Magnet Linear Synchronous Motor

2013 ◽  
Vol 834-836 ◽  
pp. 1240-1245 ◽  
Author(s):  
Wei Min Yang ◽  
Li Jiao Pan ◽  
Peng Fei Zheng ◽  
Yong Qiang He
Keyword(s):  
Kalman Filter ◽  
Control System ◽  
Permanent Magnet ◽  
Extended Kalman Filter ◽  
Sensorless Control ◽  
Synchronous Motor ◽  
Position Sensor ◽  
Linear Synchronous Motor ◽  
Close Loop Control ◽  
Position Sensorless

Control system with position sensor is susceptible to the severe environment such as high temperature, humidity and vibration, which reduce the stability of control system. Position sensorless control of permanent magnet linear synchronous motor need not position sensor so that it can use in abominable environment. According to three phases voltage and two phases current measured from motor, the position and speed of motors mover can be estimated directly based on extended Kalman filter algorithm which is a kind of recursive algorithm. So position sensorless close loop control of PMLSM can be realized.

Application of the Extended Kalman Filter to Control of a Shape Memory Alloy Arm

2003 ◽  
Author(s):  
Mohammad H. Elahinia ◽  
Hashem Ashrafiuon ◽  
Mehdi Ahmadian ◽  
Daniel J. Inman
Keyword(s):  
Kalman Filter ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Extended Kalman Filter ◽  
State Vector ◽  
Angular Position ◽  
The State ◽  
State Variables ◽  
Time Step ◽  
State Variable

This paper presents a robust nonlinear control that uses a state variable estimator for control of a single degree of freedom rotary manipulator actuated by Shape Memory Alloy (SMA) wire. A model for SMA actuated manipulator is presented. The model includes nonlinear dynamics of the manipulator, a constitutive model of the Shape Memory Alloy, and the electrical and heat transfer behavior of SMA wire. The current experimental setup allows for the measurement of only one state variable which is the angular position of the arm. Due to measurement difficulties, the other three state variables, arm angular velocity and SMA wire stress and temperature, cannot be directly measured. A model-based state estimator that works with noisy measurements is presented based on the Extended Kalman Filter (EKF). This estimator predicts the state vector at each time step and corrects its prediction based on the angular position measurements. The estimator is then used in a nonlinear and robust control algorithm based on Variable Structure Control (VSC). The VSC algorithm is a control gain switching technique based on the arm angular position (and velocity) feedback and EKF estimated SMA wire stress and temperature. The state vector estimates help reduce or avoid the undesirable and inefficient overshoot problem in SMA one-way actuation control.

scholarly journals SPEED SENSORLESS CONTROL FOR PMSM DRIVES USING EXTENDED KALMAN FILTER

2021 ◽  
Vol 84 (1) ◽  
pp. 77-83
Author(s):  
Mohamad Ikhwan Nordin ◽  
Jurifa Mat Lazi ◽  
Md Hairul Nizam Talib ◽  
Zulkifilie Ibrahim
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Sensorless Control ◽  
Permanent Magnet Synchronous Motor ◽  
Estimation Algorithm ◽  
Initial Position ◽  
Accurate Estimation ◽  
State Variables ◽  
Speed Sensorless ◽  
Non Linear System

In this paper, Sensorless Permanent Magnet Synchronous Motor (PMSM) using Extended Kalman Filter (EKF) is presented. The previous PMSM drive uses a sensor to measure the motor’s speed. Then the idea is to replace the sensor by using sensorless drives based on the observer. For the conventional observer, it’s only good for low current and low-speed applications. Moreover, it is hard to detect the phase voltage due to the non-existence of neutral wire. Therefore, this project proposes sensorless control using an EKF. This method provides an optional estimation algorithm for the non-linear system that can produce a fast and accurate estimation of state variables. The accurate estimation will reduce the noise and ripple of the system. Additionally, the EKF do not require the information of mechanical parameters and the initial position of the rotor, making the construction is easy and simple. In this paper, the fundamental of the EKF algorithm is explained and the simulation results for different speeds and loads are presented. The noise reduction test is also conducted to measure the flux current with and without the filter. The simulation study is achieved using MATLAB/Simulink to verify the effectiveness of the proposed method. The results of the simulation show that the sensorless PMSM drives using EKF have lower overshoot and faster rise time during start-up conditions and have lower undershoot during the loaded condition. It also can be concluded that the proposed sensorless PMSM drive using EKF has good speed control accuracy and can reduce the current noise.

Lithium Iron Phosphate Power Battery State of Charge Estimation Based on the Extended Kalman Filter

2013 ◽  
Vol 336-338 ◽  
pp. 784-788
Author(s):  
Ming Li ◽  
Yang Jiang ◽  
Jian Zhong Zheng ◽  
Xiao Xiao Peng
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Lithium Iron Phosphate ◽  
Equivalent Circuit Model ◽  
Estimation Algorithm ◽  
Iron Phosphate ◽  
Open Circuit ◽  
The State ◽  
State Of Charge ◽  
Power Battery

In order to estimate the state of charge (SOC) of lithium iron phosphate (LiFePO4) power battery, the state space model that fit for kalman filter to estimate was established on the basis of PNGV equivalent circuit model. In the case that considering the influence factors such as power battery charge and discharge current, environmental temperature and battery state of health, an improved composite SOC estimation algorithm based on extended kalman filter (EKF) algorithm was proposed, this proposed algorithm integrated using EKF algorithm, improved Ah counting method and open circuit voltage method to estimate SOC. The simulation results show that the proposed algorithm can track the change of the power battery SOC effectively, verify the validity of the proposed algorithm.

scholarly journals Research on the Effectiveness of Different Estimation Algorithm on the Autonomous Orbit Determination of Lagrangian Navigation Constellation

2016 ◽  
Vol 2016 ◽  
pp. 1-8
Author(s):  
Youtao Gao ◽  
Junkang Chen ◽  
Bo Xu ◽  
Jianhua Zhou
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Orbit Determination ◽  
Estimation Method ◽  
Estimation Algorithm ◽  
Fading Memory ◽  
Variance Matrix ◽  
Autonomous Orbit Determination ◽  
Navigation Constellation

The accuracy of autonomous orbit determination of Lagrangian navigation constellation will affect the navigation accuracy for the deep space probes. Because of the special dynamical characteristics of Lagrangian navigation satellite, the error caused by different estimation algorithm will cause totally different autonomous orbit determination accuracy. We apply the extended Kalman filter and the fading–memory filter to determinate the orbits of Lagrangian navigation satellites. The autonomous orbit determination errors are compared. The accuracy of autonomous orbit determination using fading-memory filter can improve 50% compared to the autonomous orbit determination accuracy using extended Kalman filter. We proposed an integrated Kalman fading filter to smooth the process of autonomous orbit determination and improve the accuracy of autonomous orbit determination. The square root extended Kalman filter is introduced to deal with the case of inaccurate initial error variance matrix. The simulations proved that the estimation method can affect the accuracy of autonomous orbit determination greatly.

scholarly journals State of Power Estimation of Echelon-Use Battery Based on Adaptive Dual Extended Kalman Filter

Energies ◽  
2021 ◽  
Vol 14 (17) ◽  
pp. 5579
Author(s):  
Enguang Hou ◽  
Yanliang Xu ◽  
Xin Qiao ◽  
Guangmin Liu ◽  
Zhixue Wang
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Estimation Method ◽  
Internal Resistance ◽  
The State ◽  
Extended Kalman Filtering ◽  
Initial Value ◽  
Process Noise ◽  
Noise Covariance ◽  
State Of Power

Owing to the degradation of the performance of a retired battery and the unclear initial value of the state of charge (SOC), the estimation of the state of power (SOP) of an echelon-use battery is not accurate. An SOP estimation method based on an adaptive dual extended Kalman filter (ADEKF) is proposed. First, the second-order Thevenin equivalent model of the echelon-use battery is established. Second, the battery parameters are estimated by the ADEKF: (a) the SOC is estimated based on an adaptive extended Kalman filtering algorithm, that uses the process noise covariance and observes the noise covariance , and (b) the ohmic internal resistance and actual capacity are estimated based on the aforementioned algorithm, that uses the process noise covariance and observes the noise covariance . Third, the working voltage and internal resistance are predicted using optimal estimation, and the SOP of the echelon-use battery is estimated. MATLAB simulation results show that, regardless of whether or not the initial value of the SOC is clear, the proposed algorithm can be adjusted to the adaptive algorithm, and if the estimation accuracy error of the echelon-use battery SOP is less than 4.8%, it has high accuracy. This paper provides a valuable reference for the prediction of the SOP of an echelon-use battery, and will be helpful for understanding the behavior of retired batteries for further discharge and use.

Position Sensorless Control of Interleaved CSI Fed PMSM Drive With Extended Kalman Filter

2012 ◽  
Vol 48 (11) ◽  
pp. 3688-3691 ◽  
Author(s):  
Zheng Wang ◽  
Yang Zheng ◽  
Zhixiang Zou ◽  
Ming Cheng
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Sensorless Control ◽  
Position Sensorless

scholarly journals A DCM Based Attitude Estimation Algorithm for Low-Cost MEMS IMUs

2015 ◽  
Vol 2015 ◽  
pp. 1-18 ◽  
Author(s):  
Heikki Hyyti ◽  
Arto Visala
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Low Cost ◽  
Direction Cosine ◽  
Estimation Algorithm ◽  
Calibration Method ◽  
Attitude Estimation ◽  
Mems Sensors ◽  
Acceleration Sensors ◽  
Adaptive Extended Kalman Filter

An attitude estimation algorithm is developed using an adaptive extended Kalman filter for low-cost microelectromechanical-system (MEMS) triaxial accelerometers and gyroscopes, that is, inertial measurement units (IMUs). Although these MEMS sensors are relatively cheap, they give more inaccurate measurements than conventional high-quality gyroscopes and accelerometers. To be able to use these low-cost MEMS sensors with precision in all situations, a novel attitude estimation algorithm is proposed for fusing triaxial gyroscope and accelerometer measurements. An extended Kalman filter is implemented to estimate attitude in direction cosine matrix (DCM) formation and to calibrate gyroscope biases online. We use a variable measurement covariance for acceleration measurements to ensure robustness against temporary nongravitational accelerations, which usually induce errors when estimating attitude with ordinary algorithms. The proposed algorithm enables accurate gyroscope online calibration by using only a triaxial gyroscope and accelerometer. It outperforms comparable state-of-the-art algorithms in those cases when there are either biases in the gyroscope measurements or large temporary nongravitational accelerations present. A low-cost, temperature-based calibration method is also discussed for initially calibrating gyroscope and acceleration sensors. An open source implementation of the algorithm is also available.

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