algorithm discuss

[Dyd-dyd]

Hello, I am learning the control algorithm of PMSM, I am interested in your extended Kalman filter, but in your algorithm, there is no description of the extended Kalman algorithm, can you tell me the extended Kalman equation you use or the corresponding article，thank you very much.

[rombrew]

Hi, my EKF is a fusion from different articles. You can find my state-space ODE in pm_kalman_equation function. Also look at this matlab/octave code from the photo where I have calculated the partial derivatives of the state and observation equations. Most difficult part to understand is observation model in pseudo DQ axes. In fact it is fixed axes that aligned with estimated DQ axes at the moment of measurement.

[Dyd-dyd]

Thank you for your selfless sharing。

[rombrew]

Made a new Kalman observer in stationary frame. Added octave source of Jacobian matrix calculation.