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Application of the Extended Kalman Filters in the Control Structure of Two-mass System
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| Author(s) |
Krzysztof P. Dyrcz, Teresa Orlowska-Kowalska, Krzysztof Szabat |
| Abstract |
The paper deals with the application of the
extended Kalman filters in the control structure of a twomass
drive system. In the first step only linear extended
Kalman filter was used for the estimation of mechanical
variables of the drive including load torque value. The estimation
algorithm showed good robustness to mechanical
parameters variations. For the system with some parameters
changing in the wide range, simultaneous estimation of
the state variables and chosen system parameters is required.
For this reason the non-linear extended Kalman
filter, which estimates simultaneously state variables and
mechanical parameters of the two-mass drive system, was
applied. Parameters of covariance matrices of used Kalman
Filters were set using the genetic algorithm. Both
proposed estimators were investigated in simulation and
experimental tests, in open-loop operation and in the statefeedback
control system of the two-mass system. |
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| Filename: | 158 |
| Filesize: | 301.1 KB |
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| Type |
Members Only |
| Date |
Last modified 2006-02-08 by System |
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