Title :
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
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;
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
DOI :
10.1109/ICIT.2008.4608421
