Study on the application of a robust Kalman filter for rotor position and velocity observation of permanent magnet motor

According to the characteristics of the permanent magnet synchronous motor (PMSM) current model with strong nonlinearity, designing its rotor position and speed observer with the state covariance matrix of UFK updated by H∞ robust filtering, ensure the observation performance under adverse situation. To contrastingly analysis H∞ robust UFK, extended Kalman Filter and UFK when viewing motor position and speed error variance during noise and measurement noise process, the observed position value of UKF observer measured by four methods is mainly identical, the speed observation value of H∞ robust UFK observer is obviously less than the latter two, and the maximum in speed error of H∞ robust Kalman Filter observer is 5rad/min, variance is 3.45rad/min, the latter both values are close to 18rad/min and variances are 11.44rad/min.