Design Of Extended Kalman Filtering Algorithm Based On FPGA

Since the Kalman filter algorithm was proposed in the 1960 s,this algorithm has developed rapidly and has been widely used.However,the KF algorithm has the defect that it can only be used for linear systems.To solve the problems of nonlinear systems,the extended Kalman filter algorithm came into being.Permanent magnet synchronous motor is a synchronous motor that generates a synchronous rotating magnetic field by permanent magnet excitation.The PMSM control system is a nonlinear control system,and there are measurement errors and system noise that all follow the Gaussian distribution.Due to the characteristics of the EKF algorithm,it is reasonable to use the EKF algorithm to implement the rotor position and speed estimation module in the PMSM control system.After studying and analyzing the PMSM control system using FPGA at home and abroad to complete the EKF algorithm,it was found that most of the studies did not analyze the circuit meticulously and quantitatively.The problems of digital accuracy and data overflow were all passed through.These are all in actual manufacturing production.It must be paid attention to.In view of this,the design starts with the analysis of the EKF algorithm and the mathematical model of the PMSM control system,establishes and verifies the mathematical model of the motor rotor position and speed estimation module based on the EKF algorithm,and uses Constraint Random Verification(CRV)ideas to find Overflow data,optimize mathematical models and build mathematical models suitable for FPGA implementation.Finally,based on this mathematical model,two circuit structures of the rotor position angle estimation module in the PMSM control system based on FPGA are designed.The two structures are used in low-resource mode with high resource on-chip and high-speed mode under time constraints.The circuit structure can be calculated once in a minimum of 3.3?s and a minimum of 1.4?s.To implement this design on FPGA,you also need to carefully consider the choice of number system format,which is related to the accuracy of the result.In order to solve the circuit overflow problem under high precision,this article adopts the combination of Q1.15 format and Q1.7.7 format.Program.In this thesis,two types of circuit modules are designed using Verilog HDL to implement functional simulation using Modelsim.Then use the Modelsim / Simulink joint simulation platform to verify the accuracy of the circuit through a mathematical model,observe and compare and analyze the simulation results.Finally,test the resource usage in the DE ? development board(Intel Cyclone ? chip),DE1-SOC development board(Intel Cyclone ? chip),and MK7325 FA development board(Xilinx Kintex 7 chip).Finally,after comparing the relevant research data at home and abroad,it was found that the resources and calculation speed consumed by this design are at an excellent level.