FPGA implementation of Rao-Blackwellized particle filter and its application to sensorless drive control

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23220%2F14%3A43922641" target="_blank" >RIV/49777513:23220/14:43922641 - isvavai.cz</a>
Alternative codes found
RIV/67985556:_____/14:00431968
Result on the web
<a href="http://10.3182/20140824-6-ZA-1003.01557" target="_blank" >http://10.3182/20140824-6-ZA-1003.01557</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.3182/20140824-6-ZA-1003.01557" target="_blank" >10.3182/20140824-6-ZA-1003.01557</a>

Result language
angličtina
Original language name
FPGA implementation of Rao-Blackwellized particle filter and its application to sensorless drive control
Original language description
Rao-Blackwellied particle filter is a stochastic filter combining Kalman filters with particle filters. It is suitable for models that could be decomposed into linear and nonlinear part. Since the conditionally linear part can be solved by the Kalman filter, the sequential Monte Carlo is run only on the non-linear subspace. The resulting algorithm is a parallel evaluation of multiple Kalman filters with resampling. The parallel nature of this algorithm allows for very efficient implementation in hardware supporting parallel computation processes. In this contribution, we present implementation of the algorithm in the Field Programmable Gate Array (FPGA). Due to the used model and optimized implementation, the execution time of the filter is in units ofmicroseconds and scales very favorably with the number of particles. This is demonstrated experimentally on a laboratory prototype of sensorless drive with permanent magnet synchronous machine (PMSM) of rated power of 10.7kW.
Czech name
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Czech description
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Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 19th IFAC World Congress, 2014
ISBN
978-3-902823-62-5
ISSN
1474-6670
e-ISSN
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Number of pages
6
Pages from-to
8669-8674
Publisher name
Elsevier
Place of publication
Amsterdam
Event location
Cape Town
Event date
Aug 24, 2014
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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