By analyzing the impact of gross error on the estimation accuracy of extended Kalman filter (EKF), we propose a novel speed estimation method for the permanent magnet synchronous motor (PMSM) in sensorless vector control based on Robust extended Kalman filter (REKF). The model of permanent magnet synchronous motor based on REKF is developed. We investigate whether REKF can give better estimation performance than EKF when PMSM is disturbed by gross errors. The speed estimation error of REKF caused by external gross error and internal estimation gross error is compared with that of EKF. Simulation and experimental results show that REKF provides better performance and exhibit faster convergence than EKF under disturbances.%通过分析粗差对扩展卡尔曼滤波器(extended Kalman filte,EKF)状态估计的影响,对无速度传感器矢量控制的永磁同步电机的转速,提出了一种基于抗差扩展卡尔曼滤波器(robust extended Kalman filter,REKF)的估计方法.建立了永磁同步电机的REKF模型,探讨了永磁同步电机在粗差干扰下引入REKF能否获得优于EKF的估计性能这一问题,比较了REKF与EKF在遇到外部粗差干扰或内部估算粗差干扰时转速和磁链的变化.仿真和实验结果表明REKF较EKF而言具有更好的抗粗差性能,使系统遇到干扰时能更快收敛.
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