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首页> 外文会议>Bath Workshop on Power Transmission and Motion Control (PTMC 2001) Sep 12-14, 2001, Bath >An extended Kalman filter applied to a pneumatic servo system - velocity and acceleration estimation in a clutch actuation application
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An extended Kalman filter applied to a pneumatic servo system - velocity and acceleration estimation in a clutch actuation application

机译：扩展的卡尔曼滤波器应用于气动伺服系统-离合器致动应用中的速度和加速度估算

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摘要

In recent years, several successful control strategies for high performance position control of pneumatic actuators have been proposed. Common to these strategics have been their use of state feedback. However, economic considerations usually preclude the use of sensors in addition to a position sensor, thus state estimators, have to be developed for estimation of the non-measured states. In this paper, we consider the performance of an Extended Kalman Filter (EKF) applied to a pneumatic actuator for estimation of velocity and acceleration from measured position. A model of a pneumatic clutch actuator is described, together with a procedure for design of an EKF estimator for the actuator. The performance of the estimator is compared to real measurements, and estimator robustness is briefly tested. The filter is robust to limited model errors, and performance compares favourable to numerical differentiation.
机译：近年来，已经提出了用于气动致动器的高性能位置控制的几种成功的控制策略。这些策略的共同点是使用状态反馈。但是，出于经济考虑，通常除了位置传感器之外还不能使用传感器，因此必须开发状态估计器以估计未测量状态。在本文中，我们考虑了应用于气动执行器的扩展卡尔曼滤波器（EKF）的性能，该气动执行器用于根据测量位置估算速度和加速度。描述了气动离合器致动器的模型，以及用于致动器的EKF估计器的设计过程。将估算器的性能与实际测量值进行比较，并简要测试估算器的鲁棒性。该滤波器对于有限的模型误差具有鲁棒性，而性能相比则有利于数值微分。

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