Adaptive Control of Two-Mass System using Nonlinear Extended Kalman Filter

In the paper the application of the nonlinear extended Kalman Filter (NEKF) to the state and parameter reconstruction of the two-mass system is reported. The torsional vibration of the drive system with elastic joint are damped using the control structure with additional feedbacks from the shaft torque and load side speed. The control structure coefficients are online retuned according to the adaptation lows which are depended on the estimate of the changeable load side inertia. The shaft torque, load side speed and load side inertia are estimated and provided to the control structure by NEKF. The initial values of the covariance matrices are setting using the genetic algorithm. Then in order to ensure the smallest state estimation errors, the simple on-line adaptation low for the element of the state covariance matrix of NEKF is proposed. The proposed control strategy is tested in the open and closed-loop control structure. Simulation results were confirmed by laboratory experiments