Application of the extended Kalman filter in advanced control structure of a drive system with elastic joint

Author

Szabat, Krzysztof ; Orlowska-Kowalska, Teresa

Author_Institution

Inst. of Electr. Machines, Drives & Meas., Wroclaw Univ. of Technol., Wroclaw

fYear

2008

fDate

21-24 April 2008

Firstpage

1

Lastpage

6

Abstract

In the paper the application of the extended Kalman filter (KF) in the control structure with a flexible connection between the motor and the load machine is presented. The synthesis of the state controller based on the forced dynamic control (FDC) law is demonstrated. The analytical equations which allow for calculating the control structure parameters are given. The mathematical model of the KF which is used to estimate the non-measurable state variables of the two-mass system is presented. The covariance matrices of the KF are set using the genetic algorithm. The effectiveness of the proposed control structure has been examined under simulation and experimental tests.

Keywords

Kalman filters; covariance matrices; force control; genetic algorithms; machine control; motor drives; nonlinear filters; power filters; advanced control structure; covariance matrices; drive system; elastic joint; extended Kalman filter; forced dynamic control; genetic algorithm; load machine; non-measurable state variables; two-mass system; Control systems; Covariance matrix; Filters; Force control; Genetic algorithms; Mathematical model; Shafts; State estimation; State feedback; Vibration control; disturbance rejection; state feedback; torsional vibration; two-mass system;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 2008. ICIT 2008. IEEE International Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4244-1705-6

Electronic_ISBN

978-1-4244-1706-3

Type

conf

DOI

10.1109/ICIT.2008.4608421

Filename

4608421