Velocity and acceleration computations by single-dimensional Kalman filter with adaptive noise variance

• Autorzy: Shaowei W. , Shanming W.

Warianty tytułu

PL

Wyznaczanie szybkości i przyśpieszenia z wykorzystaniem filtru Kalman z adaptacyjną wariancją szumów

• Języki publikacji: EN

Abstrakty

EN

The velocity and acceleration estimations by first-order and second-order differentiation of the position data from optical incremental encoder for servo motors have serious errors. Single-dimensional Kalman filter (SDKF) is proposed to estimate velocity with less complexity. Based on velocity and its variation, a polynomial expression multiplied by exponential is established to compute in real time the adaptive noise variance approximately, which can be applied to the Kalman filter. Regarding SDKF-filtered velocity as reference input, phase-locked loop (PLL) structure is employed to estimate acceleration, which adopts integral operation instead of differentiation. The simulation and experimental results demonstrate that the estimated velocity and acceleration by the proposed methods have more precision and less noise than that by differentiation method.

PL

Analizowano błąd określania szybkości i przyśpieszenia na podstawie danych o pozycji otrzymanych z optycznego enkodera. Zaproponowano wykorzystanie filtru Kalmana do określania prędkości. Do określania przyśpieszenia wykorzystano układ PLL. Uzyskano poprawę dokładnoćci i zmniejszenie szumów.

Słowa kluczowe

EN

optical incremental encoder; single-dimensional Kalman filter; PLL; velocity; acceleration

PL

encoder optyczny; filtr Kalmana; pomiar prędkości

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2012
• Tom: R. 88, nr 2
• Strony: 283--287
• Opis fizyczny: Bibliogr. 10 poz., rys., tab., wykr.

Twórcy

autor

Shaowei W.

autor

Shanming W.

• Electrical Machine Building, Institute of Electrical and Electronic Engineering, Huazhong University of Science and Technology, Wuhan City, Hubei Province, 430074, China,

Bibliografia

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• [7] Hilairet M., Auger F.,Berthelot E., Speed and Rotor Flux Estimation of Induction Machines Using a Two-Stage Extended Kalman Filter, Automatic, (45)2009, No.8, 1819- 1827
• [8] Acrasoy C.C., Ouyang G., Analytical Solution of Α-Β-Γ Tracking Filter with a Noisy Jerk as Correlated Target Maneuver Model, IEEE Trans. Aero. Elec. Sys., (33)1997, No.1, 347-353
• [9] Jazwinski A.H., Stochastic Processes and Filtering Theory, Mathematics in Science and Engineering, Academic Press, 1970
• [10] Arakali A., Gondi S.,Hanumolu P.K., Analysis and Design Techniques for Supply-Noise Mitigation in Phase-Locked Loops, IEEE Trans. Circuits I., (57)2010, No.11, 2880-2889