Title :
Application of the Kalman Filters to the High-Performance Drive System With Elastic Coupling
Author :
Szabat, Krzysztof ; Orlowska-Kowalska, Teresa
Author_Institution :
Wroclaw Univ. of Technol., Wroclaw, Poland
Abstract :
In this paper, issues related to parameter identification and high-performance control of the drive system with an elastic joint are discussed. After a brief introduction, the mathematical model of the drive and the proposed high-performance control structure are presented. The effect of the location of closed-loop poles and cancellation of zeros of the structure is examined. Then, the mathematical models of the Kalman filters used in this study are presented, and the results of the identification procedure are described. The effectiveness of the proposed structure has been examined under simulation and experimental study.
Keywords :
Kalman filters; elasticity; electric drives; mathematical analysis; Kalman filter; closed-loop pole location; elastic coupling; elastic joint; high-performance control structure; high-performance drive system; mathematical model; parameter identification; zero cancellation; Covariance matrix; Kalman filters; Mathematical model; Torque control; Transient analysis; Vibrations; Disturbance rejection; Kalman filters; motion control; vibration suppression;
Journal_Title :
Industrial Electronics, IEEE Transactions on
DOI :
10.1109/TIE.2012.2183836
