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Mathematical Problems in Engineering
Volume 2013, Article ID 974974, 13 pages
Research Article

Adaptive Two-Stage Extended Kalman Filter Theory in Application of Sensorless Control for Permanent Magnet Synchronous Motor

1School of Electric Power, South China University of Technology, Guangzhou, Guangdong 510640, China
2Hunan Institute of Humanities Science and Technology, Loudi, Hunan 417000, China

Received 20 June 2013; Revised 26 September 2013; Accepted 17 October 2013

Academic Editor: Shihua Li

Copyright © 2013 Boyu Yi et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Extended Kalman filters (EKF) have been widely used for sensorless field oriented control (FOC) in permanent magnet synchronous motor (PMSM). The first key problem associated with EKF is that the estimator requires all the plant dynamics and noise processes are exactly known. To compensate inaccurate model information and improve tracking ability, adaptive fading extended Kalman filtering algorithms have been proposed for the nonlinear system. The second key problem is that the EKF suffers from computational burden and numerical problems when state dimension is large. The two-stage extended Kalman filter (TSEKF) with respect to this problem has been extensively studied in the past. Combining the advantages of both AFEKF and TSEKF, this paper presents an adaptive two-stage extended Kalman filter (ATEKF) for closed-loop position and speed estimation of a PMSM to achieve sensorless operation. Experimental results demonstrate that the proposed ATEKF algorithm for PMSMs has strong robustness against model uncertainties and very good real-time state tracking ability.