Development of an accurate observer for slewing systems

Author

Mason, Paul A C ; Crassidis, Agamemnon ; Mook, D. Joseh ; Mayne, Roger

Author_Institution

Dept. of Mech. Eng., Florida Univ., Gainesville, FL, USA

Volume

2

fYear

1995

fDate

21-23 Jun 1995

Firstpage

1428

Abstract

In this paper, the problem of designing an optimal observer for a slewing motor-beam system with Coulomb friction is addressed. The algorithm used to solve this problem is a combination of two algorithms, the process noise covariance estimator (PNCE) and the scalar gain interpretation smoother (SGIS). PNCE determines the appropriate observer parameter that produces accurate state estimate despite modeling uncertainties. The SGIS is used to smooth excessively noisy state estimates. In this study, the observer model for the slewing system includes dynamic interaction between the motor and the beam and a finite element representation for the beam. Experimental data is used to test the accuracy of the PNCE/SGIS algorithm

Keywords

flexible structures; friction; observers; optimisation; Coulomb friction; PNCE; SGIS; accurate observer; dynamic interaction; modeling uncertainties; noisy state estimates; optimal observer design; process noise covariance estimator; scalar gain interpretation smoother; slewing motor-beam system; Aerospace engineering; Error correction; Filters; Friction; Mechanical engineering; Observers; State estimation; Technological innovation; Uncertainty; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, Proceedings of the 1995

Conference_Location

Seattle, WA

Print_ISBN

0-7803-2445-5

Type

conf

DOI

10.1109/ACC.1995.520986

Filename

520986