Adaptative high-gain extended Kalman filter and applications

tel-00559107, version 1 - 24 Jan 2011
Figure 4.22: Compilation of a real-time task.
4.3 real-time Implementation
− that measurements of the current, voltage and speed are fed to the hard real-time O.S.,
− and that set values for the voltage are delivered to the power supply.
The hard real-time O.S. has therefore 3 inputs and 1 output signals.
Figure 4.25 displays both a picture of the testbed. Also shown in the photograph is the
the friction tool n ◦ 1. The undetermined perturbations were produced by means of a hand
applied braking friction on the (back) motor’s shaft.
The computer was a Dell PC equipped with a P. IV, 3GHz processor and a 512 Mb DDR2
SDRAM memory.
4.3.3 Modeling
A model for the series-connected DC machine has been proposed in Section 4.1.1 above.
We now need to adapt this model to the testbed as the presence of the propeller needs to be
taken into account. This model can be written, in a short form,
�
I ˙ 1 = L (V − R.I − Laf Iωr)
ωr ˙ = 1
J (Laf Iωr − Tres)
where Tres is the overall resistive torque. The model from Section 4.1.1 is changed in the two
following ways:
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