Adaptative high-gain extended Kalman filter and applications

tel-00559107, version 1 - 24 Jan 2011
Figure 4.23: Xrtailab.
4.3 real-time Implementation
1. we cannot keep the ideal efficiency of the machine assumption any longer. Therefore,
instead of considering a unique mutual inductance Laf we separate it into two distinct
parameters: Laf1 and Laf2 ,
2. the resistive torque Tres is modeled as the sum of
− a viscous friction torque generated by the contacts inside the motor: Bωr,
− a torque due to the presence of the propeller and which is modeled according to
),
the technical report [44] as (pω 2.08
r
− an unknown perturbation torque (i.e. braking), just as before: Tl.
The final model thus obtained is
� ˙
I = (V − R.I − Laf1 Iωr)/L
ωr ˙ = (Laf2Iωr − Bωr − pω2.08 r
− Tl)/J.
Neither the observability analysis nor the change of variables that brought the model
into its normal form are affected by these modifications. Therefore, in the same manner as
before, we can estimate the load torque Tl by adding a third equation. The corresponding
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