A Two-stage Kalman Filter for Sensorless Direct Torque Controlled PM Synchronous Motor Drive

Table 1

EKF arithmetic operation requirements.

	Number of multiplications; (𝑛=4, 𝑚=2, 𝑞=2)	Number of additions; (𝑛=4, 𝑚=2, 𝑞=2)
𝐴𝑘, 𝐵𝑘, 𝐶𝑘	Function of system (22)	Function of system (5)
𝑋^𝑎𝑘|𝑘−1	𝑛^2+𝑛𝑞 (24)	𝑛^2+𝑛𝑞−𝑛 (20)
𝑃𝑘|𝑘−1	2𝑛^3 (128)	2𝑛^3−𝑛^2 (112)
𝑋^𝑎𝑘|𝑘−1	2𝑛𝑚 (16)	2𝑛𝑚 (16)
𝐾𝑘	𝑛^2𝑚+2𝑛𝑚^2+𝑚^3 (72)	𝑛^2𝑚+2𝑛𝑚^2+𝑚^3−2𝑛𝑚 (56)
𝑃𝑘|𝑘	𝑛^2𝑚+𝑛^3 (96)	𝑛^2𝑚+𝑛^3−𝑛^2 (80)
Total	358	289