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Implementation of Extended Kalman Filter with Optimized Execution Time for Sensorless Control of a PMSM Using ARM Cortex-M3 Microcontroller

Author

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  • Justas Dilys

    (State Research Institute Center for Physical Sciences and Technology, Sauletekio Ave. 3, LT-10257 Vilnius, Lithuania
    Vilnius Gediminas Technical University, Naugarduko 41, LT-03227 Vilnius, Lithuania)

  • Voitech Stankevič

    (State Research Institute Center for Physical Sciences and Technology, Sauletekio Ave. 3, LT-10257 Vilnius, Lithuania
    Vilnius Gediminas Technical University, Naugarduko 41, LT-03227 Vilnius, Lithuania)

  • Krzysztof Łuksza

    (Department of Power Electronics and Electrical Machines, Gdansk University of Technology, ul. Sobieskiego 7, 80-216 Gdansk, Poland)

Abstract

This paper addresses the implementation and optimization of an Extended Kalman Filter (EKF) for the Permanent Magnet Synchronous Motor (PMSM) sensorless control using an ARM Cortex-M3 microcontroller. A various optimization levels based on arithmetic calculation reduction was implemented in ARM Cortex-M3 microcontroller. The execution time of EKF estimator was reduced from 260.4 μs to 37.7 μs without loss of accuracy. To further reduce EKF execution time, the separation of a Kalman gain and covariance matrices calculation from prediction and measurement state update, a novel method was proposed, and the performance of it an EKF estimator with separation of a Kalman gain and covariance matrices calculation from prediction and measurement state update was analyzed. Simulation and experiments results validate that the proposed technique could provide the same accuracy with less computation time. A tendency of minimum Kalman gain and covariance matrices calculation frequency from rotor electrical frequency was analyzed and are presented in the paper.

Suggested Citation

  • Justas Dilys & Voitech Stankevič & Krzysztof Łuksza, 2021. "Implementation of Extended Kalman Filter with Optimized Execution Time for Sensorless Control of a PMSM Using ARM Cortex-M3 Microcontroller," Energies, MDPI, vol. 14(12), pages 1-16, June.
    • Handle: RePEc:gam:jeners:v:14:y:2021:i:12:p:3491-:d:573843
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    References listed on IDEAS

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    1. Wei, Zhongbao & Zhao, Jiyun & Ji, Dongxu & Tseng, King Jet, 2017. "A multi-timescale estimator for battery state of charge and capacity dual estimation based on an online identified model," Applied Energy, Elsevier, vol. 204(C), pages 1264-1274.
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    1. Lorenzo Carbone & Simone Cosso & Mario Marchesoni & Massimiliano Passalacqua & Luis Vaccaro, 2021. "State-Space Approach for SPMSM Sensorless Passive Algorithm Tuning," Energies, MDPI, vol. 14(21), pages 1-11, November.
    2. Christian Aldrete-Maldonado & Ramon Ramirez-Villalobos & Luis N. Coria & Corina Plata-Ante, 2023. "Sensorless Scheme for Permanent-Magnet Synchronous Motors Susceptible to Time-Varying Load Torques," Mathematics, MDPI, vol. 11(14), pages 1-20, July.
    3. Alessandro Benevieri & Lorenzo Carbone & Simone Cosso & Krishneel Kumar & Mario Marchesoni & Massimiliano Passalacqua & Luis Vaccaro, 2022. "Surface Permanent Magnet Synchronous Motors’ Passive Sensorless Control: A Review," Energies, MDPI, vol. 15(20), pages 1-26, October.
    4. Karol Kyslan & Viktor Petro & Peter Bober & Viktor Šlapák & František Ďurovský & Mateusz Dybkowski & Matúš Hric, 2022. "A Comparative Study and Optimization of Switching Functions for Sliding-Mode Observer in Sensorless Control of PMSM," Energies, MDPI, vol. 15(7), pages 1-17, April.

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    Keywords

    PMSM; sensorless; EKF; ARM; fast execution;
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