Fractional-order discrete model of an independent wheel electrical drive of the autonomous platform

• Autorzy: Bąkała M. , Nowakowski J. , Ostalczyk P.

Identyfikatory

DOI

10.24425/124259

• Języki publikacji: EN

Abstrakty

EN

In the paper the linear time-invariant fractional-order models of the separated wheel closed-loop electrical drive of the autonomous platform are considered. As a reference model one considers the classical model described by the second-order linear difference equation. Two discrete-time fractional-order models are considered: non-commensurate and commensurate. According to the sum of the squared error criterion (SSE) one compares two-parameter integer-order model with the four-parameter non-commensurate and three-parameter commensurate fractional-order ones. Three mathematical models are built and simulated. The computer simulation results are compared with measured velocity of the real autonomous platform separate wheel closed-loop electrical drive.

Słowa kluczowe

EN

fractional-order backward difference; difference equation; identification

PL

model dyskretny; równanie różniczkowe; identyfikacja

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2018
• Tom: Vol. 66, nr 4
• Strony: 433--440
• Opis fizyczny: Bibliogr. 21 poz., rys., wykr., tab.

Twórcy

autor

Bąkała M.

• Institute of Applied Compute Science, Department of Electrical Engineering, Lodz University of Technology, 18/22 Stefanowskiego St., 90-924 Lodz, Poland

autor

Nowakowski J.

• Institute of Applied Compute Science, Department of Electrical Engineering, Lodz University of Technology, 18/22 Stefanowskiego St., 90-924 Lodz, Poland

autor

Ostalczyk P.

• Institute of Applied Compute Science, Department of Electrical Engineering, Lodz University of Technology, 18/22 Stefanowskiego St., 90-924 Lodz, Poland

Bibliografia

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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).