Extended Kalman filters in the control structure of two-mass drive system

• Autorzy: Szabat K. , Orlowska-Kowalska T. , Dyrcz K.P.
• Języki publikacji: EN

Abstrakty

EN

The paper deals with the application of the extended Kalman filters in the control structure of a two-mass drive system. In the first step only linear extended Kalman filter was used for the estimation of mechanical state variables of the drive including load torque value. The estimation algorithm showed good robustness to mechanical parameters varia-tions. For the system with some parameters changing in the wide range, simultaneous est-imation 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 developed. 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 the open-loop operation and in the state-feedback control system of the two-mass system.

Słowa kluczowe

EN

Kalman filtering; two-mass system; torsional vibration; electrical drives

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2006
• Tom: Vol. 54, nr 3
• Strony: 315--325
• Opis fizyczny: Bibliogr. 8 poz., 11 rys.

Twórcy

autor

Szabat K.

autor

Orlowska-Kowalska T.

autor

Dyrcz K.P.

• Electrical Engineering Faculty, Wroclaw University of Technology, 13 Grunwaldzki Square, 50-377 Wroclaw, Poland,

Bibliografia

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• [3] K. Sugiura and Y. Hori, “Vibration suppression in 2- and 3- mass system based on the feedback of imperfect derivative of 324 Bull. Pol. Ac.: Tech. 54(3) 2006 Extended Kalman filters in the control structure of two-mass drive system the estimated torsional torque”, IEEE Trans. on Ind. Electronics 43 (1), 56–64 (1996).
• [4] T. Orlowska-Kowalska and K. Szabat, “Optimisation of fuzzy logic speed controller for DC drive system with elastic joints”, IEEE Trans. on Industrial Applications 40 (4), 1138–1144 (2004).
• [5] J.K. Ji and S.K. Sul, “Kalman filter and LQ based speed controller for torsional vibration suppression in a 2-mass motor drive system”, IEEE Trans. on Ind. Electronics 42 (6), 564–571 (1995).
• [6] S. Beineke, F. Schütte, and H. Grotstollen, “Comparison of methods for state estimation and on-line identification in speed and position control loops”, Proc. on 7th Confer. EPE’97 3, 364–369 (1997).
• [7] T. Orlowska-Kowalska and K. Szabat, “Sensitivity analysis of state variable estimators for two-mass drive system”, Proc. of 10th Conf. EPE’03, (2003).
• [8] K. Szabat and T. Orlowska-Kowalska, “Application of different state variable estimators in the control structures of two-mass system”, Proc. of 8th Intern. Conf. OPTIM’04, (2004).