Adaptative high-gain extended Kalman filter and applications

More documents

Recommendations

Info

tel-00559107, version 1 - 24 Jan 2011 xxiv CONTENTS
tel-00559107, version 1 - 24 Jan 2011 List of Figures 1 Boucle de contrôle schématisée . . . . . . . . . . . . . . . . . . . . . . . . . . ix 2 Moteur DC : circuit équivalent . . . . . . . . . . . . . . . . . . . . . . . . . . xv 3 Graphe d’une sigmoïde . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvi 4 Ordonnancement des paramètres . . . . . . . . . . . . . . . . . . . . . . . . . xvii 5 Estimation de la vitesse de rotation. . . . . . . . . . . . . . . . . . . . . . . . xviii 6 Estimation du couple de charge. . . . . . . . . . . . . . . . . . . . . . . . . . xix 7 Grand gain et Innovation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix 1.1 Control Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.2 Estimation Demonstration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.3 Estimation with noise. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2.1 Observability Equivalence Diagram. . . . . . . . . . . . . . . . . . . . . . . . 17 2.2 A Switching Strategy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 3.1 The Computation of Innovation. . . . . . . . . . . . . . . . . . . . . . . . . . 41 4.1 Series-connected DC Motor: equivalent circuit representation. . . . . . . . . . 58 4.2 Observer Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 4.3 Observer Main Equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 4.4 Computation of Innovation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 4.5 Simulation Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 4.6 Observer Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 4.7 Tuning Q and R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 4.8 Scenario 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 4.9 Tuning of θ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 4.10 Graph of the Sigmoid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 4.11 Simulation Scenarios . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 4.12 Output Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 4.13 Scenario 2: Speed Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 4.14 Scenario 2: Torque Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . 72 4.15 Scenario 3: Speed Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 4.16 Scenario 3: Torque Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . 74 4.17 Scenario 2: Innovation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 4.18 Scenario 3: Innovation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 4.19 Effect of Parameter m2: Estimation . . . . . . . . . . . . . . . . . . . . . . . 75 xxv
Page 1 and 2: tel-00559107, version 1 - 24 Jan 20
Page 25: tel-00559107, version 1 - 24 Jan 20
Page 77 and 78:
tel-00559107, version 1 - 24 Jan 20
Page 79 and 80:
tel-00559107, version 1 - 24 Jan 20
Page 81 and 82:
tel-00559107, version 1 - 24 Jan 20
Page 83 and 84:
tel-00559107, version 1 - 24 Jan 20
Page 85 and 86:
tel-00559107, version 1 - 24 Jan 20
Page 87 and 88:
tel-00559107, version 1 - 24 Jan 20
Page 89 and 90:
tel-00559107, version 1 - 24 Jan 20
Page 91 and 92:
tel-00559107, version 1 - 24 Jan 20
Page 93:
tel-00559107, version 1 - 24 Jan 20
Page 97 and 98:
tel-00559107, version 1 - 24 Jan 20
Page 99 and 100:
tel-00559107, version 1 - 24 Jan 20
Page 101 and 102:
tel-00559107, version 1 - 24 Jan 20
Page 103 and 104:
tel-00559107, version 1 - 24 Jan 20
Page 105 and 106:
tel-00559107, version 1 - 24 Jan 20
Page 107 and 108:
tel-00559107, version 1 - 24 Jan 20
Page 109 and 110:
tel-00559107, version 1 - 24 Jan 20
Page 111 and 112:
tel-00559107, version 1 - 24 Jan 20
Page 113 and 114:
tel-00559107, version 1 - 24 Jan 20
Page 115 and 116:
tel-00559107, version 1 - 24 Jan 20
Page 117 and 118:
tel-00559107, version 1 - 24 Jan 20
Page 119 and 120:
tel-00559107, version 1 - 24 Jan 20
Page 121 and 122:
tel-00559107, version 1 - 24 Jan 20
Page 123 and 124:
tel-00559107, version 1 - 24 Jan 20
Page 125 and 126:
tel-00559107, version 1 - 24 Jan 20
Page 127 and 128:
tel-00559107, version 1 - 24 Jan 20
Page 129 and 130:
tel-00559107, version 1 - 24 Jan 20
Page 131 and 132:
tel-00559107, version 1 - 24 Jan 20
Page 133 and 134:
tel-00559107, version 1 - 24 Jan 20
Page 135 and 136:
tel-00559107, version 1 - 24 Jan 20
Page 137 and 138:
tel-00559107, version 1 - 24 Jan 20
Page 139 and 140:
tel-00559107, version 1 - 24 Jan 20
Page 141 and 142:
tel-00559107, version 1 - 24 Jan 20
Page 143 and 144:
tel-00559107, version 1 - 24 Jan 20
Page 145 and 146:
tel-00559107, version 1 - 24 Jan 20
Page 147 and 148:
tel-00559107, version 1 - 24 Jan 20
Page 149 and 150:
tel-00559107, version 1 - 24 Jan 20
Page 151 and 152:
tel-00559107, version 1 - 24 Jan 20
Page 153 and 154:
tel-00559107, version 1 - 24 Jan 20
Page 155 and 156:
tel-00559107, version 1 - 24 Jan 20
Page 157 and 158:
tel-00559107, version 1 - 24 Jan 20
Page 159 and 160:
tel-00559107, version 1 - 24 Jan 20
Page 161 and 162:
tel-00559107, version 1 - 24 Jan 20
Page 163 and 164:
tel-00559107, version 1 - 24 Jan 20
Page 165 and 166:
tel-00559107, version 1 - 24 Jan 20
Page 167 and 168:
tel-00559107, version 1 - 24 Jan 20
Page 169 and 170:
tel-00559107, version 1 - 24 Jan 20
Page 171 and 172:
tel-00559107, version 1 - 24 Jan 20
Page 173 and 174:
tel-00559107, version 1 - 24 Jan 20
Page 175 and 176:
tel-00559107, version 1 - 24 Jan 20
Page 177 and 178:
tel-00559107, version 1 - 24 Jan 20
Page 179 and 180:
tel-00559107, version 1 - 24 Jan 20
Page 181 and 182:
tel-00559107, version 1 - 24 Jan 20
Page 183 and 184:
tel-00559107, version 1 - 24 Jan 20
Page 185 and 186:
tel-00559107, version 1 - 24 Jan 20
Page 187 and 188:
tel-00559107, version 1 - 24 Jan 20
Page 189 and 190:
tel-00559107, version 1 - 24 Jan 20
Page 191 and 192:
tel-00559107, version 1 - 24 Jan 20
Page 193 and 194:
tel-00559107, version 1 - 24 Jan 20
Page 195 and 196:
tel-00559107, version 1 - 24 Jan 20
Page 197 and 198:
tel-00559107, version 1 - 24 Jan 20
Page 199 and 200:
tel-00559107, version 1 - 24 Jan 20
Page 201 and 202:
tel-00559107, version 1 - 24 Jan 20
Page 203 and 204:
tel-00559107, version 1 - 24 Jan 20
show all

Adaptative high-gain extended Kalman filter and applications

Create successful ePaper yourself

Delete template?

Save as template?