Reduced-order Kalman filter in phase coordinates for IPMSM with higher flux harmonics

The aim of this paper is an investigation of an extended Kalman filer (EKF) based on a model in phase coordinates for sensorless control of an interior permanent magnet synchronous motor (IPMSM) with higher harmonics in the motor flux. The challenge for the EKF is to minimize its execution time especially for model in phase coordinates. This is achieved by using state space model of the drive with only two state variables, the rotor speed and the rotor position, which is known as the reduced-order model. This paper describes proposed EKF based estimator, verifies in simulations and experiments, that the EKF with this reduced model has low computational cost and high estimation accuracy. All experiments were carried out on a laboratory prototype of the IPMSM drive with rated power of 4 kW.