Adaptative high-gain extended Kalman filter and applications
Adaptative high-gain extended Kalman filter and applications
Adaptative high-gain extended Kalman filter and applications
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tel-00559107, version 1 - 24 Jan 2011<br />
Chapter 4<br />
Illustrative Example <strong>and</strong> Hard<br />
real-time Implementation<br />
Contents<br />
4.1 Modeling of the Series-connected DC Machine <strong>and</strong> Observability<br />
Normal Form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57<br />
4.1.1 Mathematical Model . . . . . . . . . . . . . . . . . . . . . . . . . . . 57<br />
4.1.2 Observability Cannonical Form . . . . . . . . . . . . . . . . . . . . . 59<br />
4.2 Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60<br />
4.2.1 Full Observer Definition . . . . . . . . . . . . . . . . . . . . . . . . 60<br />
4.2.2 Implementation Considerations . . . . . . . . . . . . . . . . . . . . 61<br />
4.2.3 Simulation Parameters <strong>and</strong> Observer Tuning . . . . . . . . . . . . . 62<br />
4.2.4 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70<br />
4.3 real-time Implementation . . . . . . . . . . . . . . . . . . . . . . . 76<br />
4.3.1 Softwares . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76<br />
4.3.2 Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79<br />
4.3.3 Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80<br />
4.3.4 Implementation Issues . . . . . . . . . . . . . . . . . . . . . . . . . . 84<br />
4.3.5 Experimental Results . . . . . . . . . . . . . . . . . . . . . . . . . . 87<br />
4.4 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89<br />
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