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Accurate state estimation for a hydraulic actuator via a SDRE nonlinear filter

机译：通过SDRE非线性滤波器对液压执行器进行准确的状态估计

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摘要

The state estimation in hydraulic actuators is a fundamental tool for the detection of faults or a valid alternative to the installation of sensors. Due to the hard nonlinearities that characterize the hydraulic actuators, the performances of the linear/linearization based techniques for the state estimation are strongly limited. In order to overcome these limits, this paper focuses on an alternative nonlinear estimation method based on the State-Dependent-Riccati-Equation (SDRE). The technique is able to fully take into account the system nonlinearities and the measurement noise. A fifth order nonlinear model is derived and employed for the synthesis of the estimator. Simulations and experimental tests have been conducted and comparisons with the largely used Extended Kalman Filter (EKF) are illustrated. The results show the effectiveness of the SDRE based technique for applications characterized by not negligible nonlinearities such as dead zone and frictions.
机译：液压执行器中的状态估计是检测故障的基本工具，或者是传感器安装的有效替代方法。由于表征液压致动器的硬非线性，强烈限制了基于线性/线性化的状态估计技术的性能。为了克服这些限制，本文着重介绍了一种基于状态相关性黎卡提方程（SDRE）的替代非线性估计方法。该技术能够充分考虑系统非线性和测量噪声。推导了一个五阶非线性模型，并将其用于估算器的综合。进行了仿真和实验测试，并说明了与大量使用的扩展卡尔曼滤波器（EKF）的比较。结果表明，基于SDRE的技术对于以不可忽略的非线性（例如死区和摩擦）为特征的应用是有效的。

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