E-011

Design of Extended Kalman Filter for High Performance Position Control of Electrical Drives

Authors: Stephan Beineke, Harald Wertz
Affiliation: Institute of Power Electronics and Electrical Drives, University of Paderborn, Germany

Abstract
High performance position control of electrical drives requires controllers adapted to the mechanic. As some of the mechanical parameters, e.g. total inertia of the drive, vary with time, effective schemes are needed to track time-varying parameters. Although the extended Kalman filter has turned out to be suitable for dealing with this problem, industry application of this advanced algorithm is especially hindered by a lack of systematic commissioning schemes. This paper presents a design method for extended Kalman filters adapted to fast position control. The design is based on a physical approach and provides a physical insight into the extended Kalman filter algorithm. This facilitates an easy transfer of this approach to a broad range of other applications, such as sensorless drives or system monitoring.

Stephan Beineke
Institute for Power Electronics and Electrical Drives
University of Paderborn, FB-14 LEA
Pohlweg 47-49 , 33098 Paderborn, Germany
Tel.: 0049-5251-602212
FAX : 0049-5251-603443
beineke@lea.uni-paderborn.de