Adaptative high-gain extended Kalman filter and applications

tel-00559107, version 1 - 24 Jan 2011
− the selection of the compilation options,
4.3 real-time Implementation
− the setting of the real-time parameters (sample time of the real-time executable,...),
− the display of a successful compilation notification.
The program that was compiled above is called Phd DEMO. This real-time executable is
started from the system console with one of the two following command lines:
− ./Phd DEMO -f xx
− ./Phd DEMO
In the first case, the -f option specifies that a duration of execution is provided. The xx
symbols have to be replaced by the desired length of time, in seconds. In the second case, no
duration is given and the program runs until it is stopped by the user. In RTAI-Lab, there
is only one way to properly stop a real-time executable while it is running, i.e., to use the
Xrtailab application.
As for Scilab, Xrtailab can be launched from a system console. The use of Xrtailab is
illustrated in Figure 4.23. The two first images give an account of the connection procedure.
The last image demonstrates a few possibilities of Xrtailab such as the display of signals
entering a Scope block or the ability to change blocks parameters on the fly.
A more detailed explanation on how the whole RTAI-lab suite works may be found in
[34].
4.3.2 Hardware
The testbed is composed of
− a DC motor from Lucas Nuelle (ref. SE2665-5C) that can be connected in series. This
machine is coupled
– on one end with a tachometer 17 (ref.2662-5U),
– on the other end with a propeller 18 (47.0 x 30.5 cm, together with a 5 ◦ pitch).
The propeller is attached to a 52mm center hub. Those parts were manufactured
by Aero-naut (ref.7234/97),
− a programmable DC source from Delta Electronika (SM-300-10D),
− an I/O card from National Instruments (6024E-DAQ) that allows for communications
between the physical system and the control system.
A communication diagram showing the relationship between the different elements of the
testbed is provided in Figure 4.24. The figure shows:
17
The tachometer is only used in order to compare the estimated speed to the real one, and to calibrate the
mathematical model (see Subsection 4.3.3) .
18
The brake we had at our disposal was not working properly. We therefore decided to pursue the experiments
without it. As it can be seen from the second equation of system (4.1), if the resistive torque is not
sufficient, there are good chances for the machine to run wild. The role of the propeller is to provide the motor
with a sufficiently high and stable resistive torque. We chose our propeller on behalf of the study [44].
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