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

Abstract

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.

Robust Speed Control of a Multi-Mass System: Analytical Tuning and Sensitivity Analysis

“…A more efficient approach for vibration suppression is achieved with feedback gains from all system state variables, namely, shafts' torsional moment and the corresponding rotational speed of each inertia. The SS control realizes this concept [17][18][19]. SS control gained its advantage from its features that support the control process.…”

Online Structural Health Monitoring and Parameter Estimation for Vibrating Active Cantilever Beams Using Low-Priced Microcontrollers

“…The use of the extended Kalman filter for the estimation of vibration dynamics is, with a few exceptions, limited to offline a posteriori system identification procedures. Realtime application of EKF for diagnostics and monitoring is presented by Lourens et al [26] for disturbance force estimation and by Mu et al [27] for the monitoring of structures under seismic loads, stiffness, and damping coefficient estimation in automotive applications [28] and for the adaptive control of torsional vibration in a two-mass rotating drive system [29,30]. While Williams suggested the use of unscented EKF to assess damage and damage location based on accelerometer measurements [31], the work is limited to offline numerical studies.…”

Adaptive control of the drive system with elastic coupling using fuzzy Kalman filter with dynamic adaptation of selected coefficients

“…Examples of the drive systems which have to meet such requirements are servo drives and manipulators of industrial robots [11]. In many mechatronic drive applications there are nonlinear phenomena, changeability of system parameters during operation or oscillations of the electromechanical state variables.…”

“…One of the main causes of the electromechanical state variables oscillations of the drive systems is a finite stiffness of a coupling between the motor and load machine [5]. Therefore, in many cases the adoption of a model of the system as the two-mass system is more appropriate [11]. There are also drive systems where their modelling should take into account a larger number of masses and flexible connections, e.g.…”