Hardware Implementation Of Extended Kalman Filter Estimation Algorithm For Speed

Extended Kalman Filter (EKF) is a focus among the methods of induction motor speed estimation,which is simple, realized strongly, fast convergence and strong anti-noise.Usually EKF speed estimation algorithm are achieved by digital signal processor (DSP).DSP has a simple and flexible design, can be programed using C for matrix operation directly.However, EKF speed estimation algorithm is a large number of matrix operations, and DSP perform program orderly, DSP is difficult to ensure the speed qucikly in the demanding occasions,which reduce the sampling frequency and impact speed estimation results. In this paper, Field Programmable Gate Array (FPGA) of ALTERA is used to realize EKF speed estimation algorithm, which reduce the time of EKF speed estimation algorithm because of the parallel computing,thus reflecte the real advantages of the EKF algorithm.Firstly, math model of three phase asynchronous motor and theory of EKF for estimation of speed are discussed, VHDL program of EKF estimation for speed are designed. Then,the DSP+FPGA hard circuit of control system and system software which based on TMS320F2812 DSP and FPGA of ALTERA are designed, the SPI communications protocol between the DSP and the FPGA are completed. Finally, the EKF program is downloaded to the FPGA chip, the experiment is carried out and control performance is examined under diverse conditions.Experimental results show that the EKF can accurately,quickly estimate rotor speed.