Sensitivity analysis of the identification of variable inertia with an extended Kalman Filter

The dynamic behavior of a drive system is influenced by the external load and by the parameters of the mechanical system which can change during operation due to several factors. The online identification of time variable mechanical parameters is a task of prime importance for the tuning of self-ada...

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Bibliographic Details
Main Authors: Perdomo, M., Pacas, M., Eutebach, T., Immel, J.
Format: Conference Proceeding
Language:English
Subjects:
Estimation
extended Kalman filter
Kalman filters
Load modeling
Mathematical model
Online Identification
Shift registers
time domain
time-variable inertia
Torque
variable load torque
Vectors
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Summary:The dynamic behavior of a drive system is influenced by the external load and by the parameters of the mechanical system which can change during operation due to several factors. The online identification of time variable mechanical parameters is a task of prime importance for the tuning of self-adaptive control schemes. In this work a sensitivity study of a technique for the identification of time variable mechanical parameters is presented by using extended Kalman Filters. This identification method, introduced in the past by other authors, is one of the few procedures that allows online identification of time varying parameters. The effect of several parameters such as the mechanical speed, the amplitude and the number of bit registers in the generation of the PRBS that is used as additional excitation is analyzed and experimentally tested on a mechanical system with a repetitive production cycle that often can be found in many industrial applications.
ISSN:1553-572X
DOI:10.1109/IECON.2013.6699624