Aiming at the lagging and inaccuracy in the traditional velocity estimation method for permanent magnet synchronous motor(PMSM)with incremental encoder

an improved method based on extended Kalman filter(EKF)was proposed

an EKF observer was designed to obtain the estimated speed accurately without lagging

and the algorithm was simplified with matrix transformation and the overflow periodicity of accumulator in the fixed-point DSP. The experiment results show the relatively accurate velocity estimation without large lagging in the entire process of motor.