复完整代码的下载链接。有中文注释包运行成功文章目录简洁运行结果MATLAB源代码简洁本程序基于永磁同步电机PMSM数学模型实现机械转速与转子电角度的扩展卡尔曼滤波EKF估计。通过模拟磁场定向控制FOC下的电压、电流信号利用EKF完成电机状态预测与量测更新并绘制转速、角度、电流及估计误差曲线。电机参数、控制器参数、仿真时间及测量噪声等均可自行调整便于开展不同工况下的状态观测仿真。运行结果状态估计误差电压与新息诊断电流观测与估计转速与角度观测命令行输出MATLAB源代码部分代码% 转速与角度观测独立MATLAB例程% 2026-10-11/Ver1作者matlabfilterV同号可获取代码定制、讲解等clear;clc;close all;rng(0);%% 共用教学参数与单位不将本例解释为Word中15 kW电机的实机验证Rs0.45;Ld3e-3;Lq3.6e-3;psi_f0.075;pole_pairs4;J2e-3;B5e-4;Ts1e-4;simulation_time1.2;dc_voltage120;voltage_limitdc_voltage/sqrt(3);current_limit10;Kp_speed0.25;Ki_speed4.0;current_bandwidth1200;Kp_dLd*current_bandwidth;Kp_qLq*current_bandwidth;Ki_dRs*current_bandwidth;Ki_qRs*current_bandwidth;time0:Ts:simulation_time;sample_countnumel(time);Kt1.5*pole_pairs*psi_f;Kr1.5*pole_pairs*(Ld-Lq);% 维护用汇总也是数值向量各指标仍以独立、有意义的变量保留。speed_rmseNaN;angle_rmse_degNaN;load_rmseNaN;parameter_relative_rmse_pctNaN;secondary_parameter_rmse_pctNaN;improvement_pctNaN;current_rmseNaN;peak_speed_errorNaN;gap_speed_rmseNaN;recovery_speed_rmseNaN;final_parameterNaN;final_secondary_parameterNaN;disturbance_speed_peakNaN;control_current_peakNaN;takeover_speed_peakNaN;recovery_timeNaN;covariance_minInf;covariance_chol_failures0;jacobian_error0;state_is_finite1;%% 编码器FOC台架仅负责生成实际电压、电流和物理一致的真值speed_reference8020*(1tanh((time-0.25)/0.035))/2...-10*(1tanh((time-0.85)/0.035))/2;load_true0.35*ones(1,sample_count);state_truezeros(4,sample_count);voltage_abzeros(2,sample_count);plant[0;(0.35B*80)/Kt;80;0.30];state_true(:,1)plant;controller_integralszeros(3,1);iq_referencezeros(1,sample_count);voltage_saturatedfalse(1,sample_count);iq_bias(0.35B*80)/Kt;fork2:sample_count feedback_abcurrent_measurement(plant);[uab,controller_integrals,iq_reference(k-1),voltage_saturated(k-1)]foc_controller(...feedback_ab,plant(4),plant(3),speed_reference(k-1),controller_integrals,Ts,...Rs,Ld,Lq,psi_f,pole_pairs,voltage_limit,current_limit,...Kp_speed,Ki_speed,Kp_d,Ki_d,Kp_q,Ki_q,iq_bias);voltage_ab(:,k-1)uab;plantmotor_truth_step(plant,uab,Ts,Rs,Ld,Lq,psi_f,pole_pairs,J,B,load_true(k-1));state_true(:,k)plant;endvoltage_ab(:,end)voltage_ab(:,end-1);iq_reference(end)iq_reference(end-1);current_ab_true[cos(state_true(4,:)).*state_true(1,:)-sin(state_true(4,:)).*state_true(2,:);...sin(state_true(4,:)).*state_true(1,:)cos(state_true(4,:)).*state_true(2,:)];noise_std0.04*ones(2,sample_count);current_ab_meascurrent_ab_truenoise_std.*randn(2,sample_count);measurement_validtrue(1,sample_count);current_ab_meas(:,~measurement_valid)NaN;%% 状态观测不使用台架的真实转速、真实角度或未知负载完整代码https://download.csdn.net/download/callmeup/93681020如需帮助或有滤波相关的MATLAB代码定制需求可从个人主页左侧联系我
