Title :
Estimation of the mechanical state variables of the two-mass system using fuzzy adaptive Kalman filter - Experimental study
Author :
Drozdz, Krzysztof
Author_Institution :
Dept. of Electr. Machines, Drives & Meas., Wroclaw Univ. of Technol., Wrocław, Poland
Abstract :
This paper investigates the application of fuzzy adaptive Kalman Filter for mechanical state variable and parameter estimation of the drive system with elastic joint. The adaptive state-space controller, which coefficients are retuned according to the estimation parameter provided by Kalman filter, is selected to control the two-mass system effectively. Selected elements of covariance matrix Q are retuned by proposed adaptation law. Additional fuzzy element is used to modified the control law in order to decrease estimation error of the plant. The effectiveness of the proposed approach is investigated under variety of experimental tests.
Keywords :
adaptive Kalman filters; adaptive control; covariance matrices; drives; fuzzy control; parameter estimation; state-space methods; adaptation law; adaptive state-space controller; control law; covariance matrix; drive system; elastic joint; fuzzy adaptive Kalman filter; fuzzy element; mechanical state variables; parameter estimation; two-mass system; Adaptive systems; Covariance matrices; Fuzzy systems; Kalman filters; Shafts; Torque; Transient analysis; Kalman filter; adaptive system; fuzzy system; torsional vibration; two-mass system;
Conference_Titel :
Cybernetics (CYBCONF), 2015 IEEE 2nd International Conference on
Conference_Location :
Gdynia
Print_ISBN :
978-1-4799-8320-9
DOI :
10.1109/CYBConf.2015.7175977
