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Tytuł:
Application of fuzzy type II multi-layer Kalman filter for parameters identification of two-mass drive system
Autorzy:
Śleszycki, Kacper
Wróbel, Karol
Szabat, Krzysztof
Katsura, Seiichiro
Powiązania:
https://bibliotekanauki.pl/articles/27311447.pdf
Data publikacji:
2023
Wydawca:
Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:
electrical drives
torsional vibration
state estimation
Kalman filter
multi-layer estimator
napędy elektryczne
drgania skrętne
ocena stanu
estymator wielowarstwowy
filtr Kalmana
Opis:
The paper describes a novel online identification algorithm for a two-mass drive system. The multi-layer extended Kalman Filter (MKF) is proposed in the paper. The proposed estimator has two layers. In the first one, three single extended Kalman filters (EKF) are placed. In the second layer, based on the incoming signals from the first layer, the final states and parameters of the two-mass system are calculated. In the considered drive system, the stiffness coefficient of the elastic shaft and the time constant of the load machine is estimated. To improve the quality of estimated states, an additional system based on II types of fuzzy sets is proposed. The application of fuzzy MKF allows for a shorter identification time, as well as improves the accuracy of estimated parameters. The identified parameters of the two-mass system are used to calculate the coefficients of the implemented control structure. Theoretical considerations are supported by simulations and experimental tests.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2023, 71, 4; art. no. e146107
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Comparison of the effectiveness of time series analysis methods: SMA, WMA, EMA, EWMA, and Kalman filter for data analysis
Porównanie skuteczności metod analizy szeregów czasowych: SMA, WMA, EMA, EWMA i filtr Kalmana do analizy danych
Autorzy:
Lotysh, Volodymyr
Gumeniuk, Larysa
Humeniuk, Pavlo
Powiązania:
https://bibliotekanauki.pl/articles/27315442.pdf
Data publikacji:
2023
Wydawca:
Politechnika Lubelska. Wydawnictwo Politechniki Lubelskiej
Tematy:
data analysis
modeling
moving average
Kalman filter
analiza danych
modelowanie
średnia ruchoma
filtr Kalmana
Opis:
In time series analysis, signal processing, and financial analysis, simple moving average (SMA), weighted moving average (WMA), exponential moving average (EMA), exponential weighted moving average (EWMA), and Kalman filter are widely used methods. Each method has its own strengths and weaknesses, and the choice of method depends on the specific application and data characteristics. It is important for researchers and practitionersto understand the properties and limitations of these methods in order to make informed decisions when analyzing time seriesdata. This study investigates the effectiveness of time series analysis methods using data modeled with a known exponential function with overlaid random noise. This approach allows for control of the underlying trend in the data while introducing the variability characteristic of real-world data. The relationships were written using scripts for the construction of dependencies, and graphical interpretation of the results is provided.
W analizie szeregów czasowych, przetwarzaniu sygnałów i analizie finansowej szeroko stosowane są: prosta średnia ruchoma (SMA), ważona średnia ruchoma (WMA), wykładnicza średniaruchoma (EMA), wykładniczo-ważona średnia ruchoma (EWMA) i filtr Kalmana. Każda z metod ma swoje mocne i słabe strony, a wybór metody zależy od konkretnego zastosowania i charakterystyki danych. Dla badaczyi praktyków ważne jest zrozumienie właściwości i ograniczeń tych metod w celu podejmowania świadomych decyzji podczas analizy danych szeregów czasowych. W niniejszej pracy zbadano skuteczność metod analizy szeregów czasowych z wykorzystaniem danych modelowanych znaną funkcją wykładniczą z nałożonym szumem losowym. Takie podejście pozwala na kontrolowanie głównego trendu w danych przy jednoczesnym wprowadzeniu zmienności typowej dla danych rzeczywistych. Do budowy zależności zostały napisane skrypty. Podanajest graficzna interpretacja wyników.
Źródło:
Informatyka, Automatyka, Pomiary w Gospodarce i Ochronie Środowiska; 2023, 13, 3; 71--74
2083-0157
2391-6761
Pojawia się w:
Informatyka, Automatyka, Pomiary w Gospodarce i Ochronie Środowiska
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Diagnosis of ITSC fault in the electrical vehicle powertrain system through signal processing analysis
Autorzy:
Ouamara, Dehbia
Boukhnifer, Moussa
Chaibet, Ahmed
Maidi, Ahmed
Powiązania:
https://bibliotekanauki.pl/articles/2174472.pdf
Data publikacji:
2023
Wydawca:
Polska Akademia Nauk. Polskie Towarzystwo Diagnostyki Technicznej PAN
Tematy:
induction motor
electrical vehicle
fault diagnosis
inter-turn short circuit
extended Kalman filter
spectral analysis
fast Fourier transform
short-time Fourier transform
silnik indukcyjny
pojazd elektryczny
diagnostyka uszkodzeń
zwarcie międzyzwojowe
rozszerzony filtr Kalmana
analiza spektralna
szybka transformata Fouriera
krótkoczasowa transformata Fouriera
Opis:
The three-phase induction motor is well suited for a wide range of mobile drives, specifically for electric vehicle powertrain. During the entire life cycle of the electric motor, some types of failures can occur, with stator winding failure being the most common. The impact of this failure must be considered from the incipient as it can affect the performance of the motor, especially for electrically powered vehicle application. In this paper, the intern turn short circuit of the stator winding was studied using Fast Fourier transform (FFT) and Shor-Time Fourier transform (STFT) approaches. The residuals current between the estimated currents provided by the extended Kalman filter (EKF) and the actual ones are used for fault diagnosis and identification. Through FFT, the residual spectrum is sensitive to faults and gives the extraction of inter-turn short circuit (ITSC) related frequencies in the phase winding. In addition, the FFT is used to obtain information about when and where the ITSC appears in the phase winding. Indeed, the results allow to know the faulty phase, to estimate the fault rate and the fault occurrence frequency as well as their appearance time.
Źródło:
Diagnostyka; 2023, 24, 1; art. no. 2023113
1641-6414
2449-5220
Pojawia się w:
Diagnostyka
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Fault diagnosis-based observers using Kalman filters and Luenberger estimators: Application to the pitch system fault actuators
Autorzy:
Zemali, Zakaria
Cherroun, Lakhmissi
Hadroug, Nadji
Nadour, Mohamed
Hafaifa, Ahmed
Powiązania:
https://bibliotekanauki.pl/articles/2174470.pdf
Data publikacji:
2023
Wydawca:
Polska Akademia Nauk. Polskie Towarzystwo Diagnostyki Technicznej PAN
Tematy:
fault detection
estimation
pitch system
Kalman filter
Luenberger observer
wykrywanie uszkodzeń
estymacja
filtr Kalmana
obserwator Luenbergera
Opis:
This paper aims to present a robust fault diagnosis structure-based observers for actuator faults in the pitch part system of the wind turbine benchmark. In this work, two linear estimators have been proposed and investigated: the Kalman filter and the Luenberger estimator for observing the output states of the pitch system in order to generate the appropriate residual between the measured positions of blades and the estimated values. An inference step as a decision block is employed to decide the existence of faults in the process, and to classify the detected faults using a predetermined threshold defined by upper and lower limits. All actuator faults in the pitch system of the horizontal wind turbine benchmark are studied and investigated. The obtained simulation results show the ability of the proposed diagnosis system to determine effectively the occurred faults in the pitch system. Estimation of the output variables is effectively realized in both situations: without and with the occurrence of faults in the studied process. A comparison between the two used observers is demonstrated.
Źródło:
Diagnostyka; 2023, 24, 1; art. no. 2022110
1641-6414
2449-5220
Pojawia się w:
Diagnostyka
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Finite length triple estimation algorithm and its application to gyroscope mems noise identification
Autorzy:
Macias, Michał
Sierociuk, Dominik
Powiązania:
https://bibliotekanauki.pl/articles/2204616.pdf
Data publikacji:
2023
Wydawca:
Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:
fractional calculus
fractional Kalman filter
estimation of fractional order systems
fractional order noise
Opis:
The noises associated with MEMS measurements can significantly impact their accuracy. The noises characterised by random walk and bias instability errors strictly depend on temperature effects that are difficult to specify during direct measurements. Therefore, the paper aims to estimate the fractional noise dynamics of the stationary MEMS gyroscope based on finite length triple estimation algorithm (FLTEA). The paper deals with the state, order and parameter estimation of fractional order noises originating from the MEMS gyroscope, being part of the popular Inertial Measurement Unit denoted as SparkFun MPU9250. The noise measurements from , and gyroscope axes are identified using a modified triple estimation algorithm (TEA) with finite approximation length. The TEA allows a simultaneous estimation of the state, order and parameter of fractional order systems. Moreover, as it is well-known that the number of samples in fractional difference approximations plays a key role, we try to show the influence of applying the TEA with various approximation length constraints on final estimation results. The validation of finite length TEA in the noise estimation process coming from MEMS gyroscope has been conducted for implementation length reduction achieving 50% of samples needed to estimate the noise with no implementation losses. Additionally, the capabilities of modified TEA in the analysis of fractional constant and variable order systems are confirmed in several numerical examples.
Źródło:
Acta Mechanica et Automatica; 2023, 17, 2; 219--229
1898-4088
2300-5319
Pojawia się w:
Acta Mechanica et Automatica
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
On the control of the final speed for a class of finite-dimensional linear systems: controllability and regulation
Autorzy:
Rachik, Mostafa
Khaloufi, Issam
Benfatah, Youssef
Boutayeb, Hamza
Laarabi, Hassan
Powiązania:
https://bibliotekanauki.pl/articles/29432204.pdf
Data publikacji:
2023
Wydawca:
Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:
speed-controllability
controllability
continuous systems
regulation
Kalman’s condition
Opis:
In this article, we extended the concept of controllability, traditionally used to control the final state of a system, to the exact control of its final speed. Inspired by Kalman’s theory, we have established some conditions to characterize the control that allows the system to reach a desired final speed exactly. When the assumptions ensuring speed-controllability are not met, we adopt a regulation strategy that involves determining the control law to make the system’s final speed approach as closely as possible to the predefined final speed, and this at a lower cost. The theoretical results obtained are illustrated through three examples.
Źródło:
Archives of Control Sciences; 2023, 33, 3; 497--525
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Thermodynamics-based measurement of the velocity of high-temperature smoke
Autorzy:
Wang, Haoyu
Powiązania:
https://bibliotekanauki.pl/articles/2204068.pdf
Data publikacji:
2023
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
thermodynamics
smoke
flow velocity
measurement
Kalman filter
algorithm
Opis:
In view of the high cost and difficulty of ensuring the accuracy in the measurement of fire smoke velocity, the measurement system developed using platinum resistance temperature detectors and an 8-bit microcontroller, is used to realize the fast measurement of high-temperature fire smoke velocity. The system is based on the thermodynamic method and adopts the Kalman filter algorithm to process the measurement data, so as to eliminate noise and interference, and reduce measurement error. The experimental results show that the Kalman filter algorithm can effectively improve the measurement accuracy of fire smoke velocity. It is also shown that the system has high measurement accuracy, short reaction time, low cost, and is characterized by high performance in the measurement of high-temperature smoke velocity in experiments and practice.
Źródło:
Archives of Thermodynamics; 2023, 44, 1; 23--36
1231-0956
2083-6023
Pojawia się w:
Archives of Thermodynamics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A Kalman filter with intermittent observations and reconstruction of data losses
Autorzy:
Rhouma, Taouba
Keller, Jean-Yves
Abdelkrim, Mohamed Naceur
Powiązania:
https://bibliotekanauki.pl/articles/2134055.pdf
Data publikacji:
2022
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
Kalman filter
intermittent unknown inputs
linear system
intermittent observation
filtr Kalmana
układ liniowy
obserwacja okresowa
Opis:
This paper deals with the problem of joint state and unknown input estimation for stochastic discrete-time linear systems subject to intermittent unknown inputs on measurements. A Kalman filter approach is proposed for state prediction and intermittent unknown input reconstruction. The filter design is based on the minimization of the trace of the state estimation error covariance matrix under the constraint that the state prediction error is decoupled from active unknown inputs corrupting measurements at the current time. When the system is not strongly detectable, a sufficient stochastic stability condition on the mathematical expectation of the random state prediction errors covariance matrix is established in the case where the arrival binary sequences of unknown inputs follow independent random Bernoulli processes. When the intermittent unknown inputs on measurements represent intermittent observations, an illustrative example shows that the proposed filter corresponds to a Kalman filter with intermittent observations having the ability to generate a minimum variance unbiased prediction of measurement losses.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2022, 32, 2; 241--253
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Application of unscented Kalman filter for clutch position control of automated manual transmission
Autorzy:
Soltani, Abbas
Arianfard, Milad
Jazar, Reza Nakhaie
Powiązania:
https://bibliotekanauki.pl/articles/2172774.pdf
Data publikacji:
2022
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
automated clutch
actuator
adaptive sliding mode control
estimator
unscented Kalman
filter
automatyczne sprzęgło
sterowanie trybem ślizgowym
taksator
Kalman
filtr
Opis:
In this paper, an adaptive sliding mode controller (ASMC) is proposed for an electromechanical clutch position control system to apply in the automated manual transmission. Transmission systems undergo changes in parameters with respect to the wide range of driving condition, such as changing in friction coefficient of clutch disc and stiffness of diaphragm spring, hence, an adaptive robust control method is required to guarantee system stability and overcome the uncertainties and disturbances. As the majority of transmission dynamics variables cannot be measured in a cost-efficient way, a non-linear estimator based on unscented Kalman filter (UKF) is designed to estimate the state valuables of the system. Also, a non-linear dynamic model of the electromechanical actuator is presented for the automated clutch system. The model is validated with experimental test results. Numerical simulation of a reference input for clutch bearing displacement is performed in computer simulation to evaluate the performance of controller and estimator. The results demonstrate the high effectiveness of the proposed controller against the conventional sliding mode controller to track precisely the desired trajectories.
Źródło:
Archive of Mechanical Engineering; 2022, LXIX, 2; 319--339
0004-0738
Pojawia się w:
Archive of Mechanical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Cascade tanks system identification for robust predictive control
Autorzy:
Jakowluk, Wiktor
Jaszczak, Sławomir
Powiązania:
https://bibliotekanauki.pl/articles/2173722.pdf
Data publikacji:
2022
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
application-oriented input design
Kalman filter
model predictive control
MPC
system identification
projektowanie wejścia zorientowanego na aplikację
filtr Kalmana
sterowanie predykcyjne modelu
identyfikacja systemu
Opis:
The main goal of estimating models for industrial applications is to guarantee the cheapest system identification. The requirements for the identification experiment should not be allowed to affect product quality under normal operating conditions. This paper deals with ensuring the required liquid levels of the cascade system tanks using the model predictive control (MPC) method. The MPC strategy was extended with the Kalman filter (KF) to predict the system’s succeeding states subject to a reference trajectory in the presence of both process and measurement noise covariances. The main contribution is to use the application-oriented input design to update the parameters of the model during system degradation. This framework delivers the least-costly identification experiment and guarantees high performance of the system with the updated model. The methods presented are evaluated both in the experiments on a real process and in the computer simulations. The results of the robust MPC application for cascade system water levels control are discussed.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2022, 70, 6; art. no. e143646
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Design of a vision‐based autonomous turret
Autorzy:
Louali, Rabah
Negadi, Djilali
Hamadouche, Rabah
Nemra, Abdelkrim
Powiązania:
https://bibliotekanauki.pl/articles/27314239.pdf
Data publikacji:
2022
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
autonomous turret
stepper motor
DC motor
vision based control
Tracking‐Learning‐Detection algorithm
TLD algorithm
Kalman based visual tracking
Opis:
This article describes the hardware and software de‐ sign of a vision‐based autonomous turret system. A two degree of freedom (2 DOF) turret platform is designed to carry a cannon equipped with an embedded camera and actuated by stepper motors or direct current motors. The turret system includes a central calculator running a visual detection and tracking solution, and a microcon‐ troller, responsible for actuators control. The Tracking‐ Learning‐Detection (TLD) algorithm is implemented for target detection and tracking. Furthermore, a Kalman filter algorithm is implemented to continue the tracking in case of occlusion. The performances of the designed turret, regarding response time, accuracy and the execu‐ tion time of its main tasks, are evaluated. In addition, an experimental scenario was performed for real‐time autonomous detection and tracking of a moving target.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2022, 16, 4; 72--77
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Disturbance-Kalman state for linear offset free MPC
Autorzy:
Tuan, Truong Thanh
Zabiri, Haslinda
Mutalib, Mohammad Ibrahim Abdul
Vo, Dai-Viet N.
Powiązania:
https://bibliotekanauki.pl/articles/2106504.pdf
Data publikacji:
2022
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
Kalman filter
plant-model mismatch
offset free MPC
disturbance model
Opis:
In model predictive control (MPC), methods of linear offset free MPC are well established such as the disturbance model, the observer method and the state disturbance observer method. However, the observer gain in those methods is difficult to define. Based on the drawbacks observed in those methods, a novel algorithm is proposed to guarantee offset-free MPC under model-plant mismatches and disturbances by combining the two proposed methods which are the proposed Recursive Kalman estimated state method and the proposed Disturbance-Kalman state method. A comparison is made from existing methods to assess the ability of providing offset-free MPC on Wood-Berry distillation column. Results shows that the proposed offset free MPC algorithm has better disturbance rejection performance than the existing algorithms.
Źródło:
Archives of Control Sciences; 2022, 32, 1; 153--173
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Land vehicle navigation using low-cost integrated smartphone gnss mems and map matching technique
Autorzy:
Mahmoud, Mostafa
Abd Rabbou, Mahmoud
El Shazly, Adel
Powiązania:
https://bibliotekanauki.pl/articles/2174936.pdf
Data publikacji:
2022
Wydawca:
Polska Akademia Nauk. Centrum Badań Kosmicznych PAN
Tematy:
BSSD
MEMS
Kalman filter
hidden Markov model
Viterbi algorithm
Opis:
The demand for smartphone positioning has grown rapidly due to increased positioning accuracy applications, such as land vehicle navigation systems used for vehicle tracking, emergency assistance, and intelligent transportation systems. The integration between navigation systems is necessary to maintain a reliable solution. High-end inertial sensors are not preferred due to their high cost. Smartphone microelectromechanical systems (MEMS) are attractive due to their small size and low cost; however, they suffer from long-term drift, which highlights the need for additional aiding solutions using road network that can perform efficiently for longer periods. In this research, the performance of the Xiaomi MI 8 smartphone's single-frequency precise point positioning was tested in kinematic mode using the between-satellite single-difference (BSSD) technique. A Kalman filter algorithm was used to integrate BSSD and inertial navigation system (INS)-based smartphone MEMS. Map matching technique was proposed to assist navigation systems in global navigation satellite system (GNSS)-denied environments, based on the integration of BSSD-INS and road network models applying hidden Marcov model and Viterbi algorithm. The results showed that BSSD-INS- map performed consistently better than BSSD solution and BSSD–INS integration, irrespective of whether simulated outages were added or not. The root mean square error (RMSE) values for 2D horizontal position accuracy when applying BSSD-INS-map integration improved by 29% and 22%, compared to BSSD and BSSD-INS navigation solutions, respectively, with no simulated outages added. The overall average improvement of proposed BSSD-INS-map integration was 91%, 96%, and 98% in 2D horizontal positioning accuracy, compared to BSSD-INS algorithm for six GNSS simulated signal outages with duration of 10, 20, and 30 s, respectively.
Źródło:
Artificial Satellites. Journal of Planetary Geodesy; 2022, 57, 3; 138--157
2083-6104
Pojawia się w:
Artificial Satellites. Journal of Planetary Geodesy
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Mechatronic design of a two-wheeled mobile platform
Mechatroniczny projekt dwukołowej platformy mobilnej
Autorzy:
Ręczkowicz, Szymon
Powiązania:
https://bibliotekanauki.pl/articles/24086897.pdf
Data publikacji:
2022
Wydawca:
Akademia Górniczo-Hutnicza im. Stanisława Staszica w Krakowie. Wydawnictwo AGH
Tematy:
self-balancing vehicles
Kalman filter
two-wheeled structures
pojazdy samobalansujące
filtr Kalmana
konstrukcje dwukołowe
Opis:
The article presents the results of work on a project for a two-wheeled self-balancing mobile platform prepared as part of engineering work. The purpose of creating the structure was to enable the increased mobility of an adult over short distances in an urbanized environment. The whole design work was divided into several parts. In the first stage, requirements were assumed for the design of the device, electrical elements chosen, and a diagram of their electrical connections is presented. In the second part, the created CAD model of the structure is presented and some of mechanical elements described. In order to check the strength of the structure, the FEM analysis of the device body was carried out. The penultimate part was to analyze the problem of the inverted pendulum, which allowed to separate the state space model into a base subsystem and a control stick subsystem necessary to develop the control for the platform. In the last part, a stabilizing algorithm based on the LQR regulator was prepared and the use of sensory fusion in the form of a Kalman filter was focused on in order to increase the accuracy of determining the angle of deflection of the structure. Finally, simulations were prepared in the Simulink environment in order to check the correctness of the prepared algorithm. The whole was crowned with a summary of the work and setting directions for further research.
W artykule przedstawiono wyniki prac nad projektem dwukołowej samobalansującej platformy mobilnej przygotowanym w ramach pracy inżynierskiej. Celem stworzenia konstrukcji było umożliwienie zwiększania mobilności osoby dorosłej na niewielkich odległościach w zurbanizowanym środowisku. Całość prac projektowych podzielono na kilka części. W pierwszym etapie przedstawiono wymagania założone dla projektu urządzenia, dobrano elementy elektryczne oraz schemat ich połączeń elektrycznych. W drugiej części omówiono stworzony model CAD konstrukcji oraz jego elementy mechaniczne. W celu sprawdzenia wytrzymałości konstrukcji dokonano analizy MES korpusu urządzenia. Przedostatnią częścią było przeanalizowanie zagadnienia odwróconego wahadła, które pozwoliło na wyprowadzenie modelu przestrzeni stanu z rozdzieleniem na podsystemy bazy i drążka sterowniczego niezbędnego do opracowania sterowania dla platformy. W ostatniej części przygotowano algorytm stabilizujący na podstawie regulatora LQR oraz rozważano zastosowanie fuzji sensorycznej w postaci filtru Kalmana w celu zwiększenia dokładności określania kąta odchylenia konstrukcji. Na koniec przygotowano symulacje w środowisku Simulink w celu sprawdzenia poprawności przygotowanego algorytmu. Całość została zwieńczona podsumowaniem prac oraz wytyczeniem kierunków dalszych badań.
Źródło:
Mining – Informatics, Automation and Electrical Engineering; 2022, 60, 2; 17--34
2450-7326
2449-6421
Pojawia się w:
Mining – Informatics, Automation and Electrical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Mechatroniczny projekt dwukołowej platformy mobilnej
Mechatronic design of a two-wheeled mobile platform
Autorzy:
Ręczkowicz, Szymon
Powiązania:
https://bibliotekanauki.pl/articles/24086890.pdf
Data publikacji:
2022
Wydawca:
Akademia Górniczo-Hutnicza im. Stanisława Staszica w Krakowie. Wydawnictwo AGH
Tematy:
pojazdy samobalansujące
filtr Kalmana
konstrukcje dwukołowe
self-balancing vehicles
Kalman filter
two-wheeled structures
Opis:
W artykule przedstawiono wyniki prac nad projektem dwukołowej samobalansującej platformy mobilnej przygotowanym w ramach pracy inżynierskiej. Celem stworzenia konstrukcji było umożliwienie zwiększania mobilności osoby dorosłej na niewielkich odległościach w zurbanizowanym środowisku. Całość prac projektowych podzielono na kilka części. W pierwszym etapie przedstawiono wymagania założone dla projektu urządzenia, dobrano elementy elektryczne oraz schemat ich połączeń elektrycznych. W drugiej części omówiono stworzony model CAD konstrukcji oraz jego elementy mechaniczne. W celu sprawdzenia wytrzymałości konstrukcji dokonano analizy MES korpusu urządzenia. Przedostatnią częścią było przeanalizowanie zagadnienia odwróconego wahadła, które pozwoliło na wyprowadzenie modelu przestrzeni stanu z rozdzieleniem na podsystemy bazy i drążka sterowniczego niezbędnego do opracowania sterowania dla platformy. W ostatniej części przygotowano algorytm stabilizujący na podstawie regulatora LQR oraz rozważano zastosowanie fuzji sensorycznej w postaci filtru Kalmana w celu zwiększenia dokładności określania kąta odchylenia konstrukcji. Na koniec przygotowano symulacje w środowisku Simulink w celu sprawdzenia poprawności przygotowanego algorytmu. Całość została zwieńczona podsumowaniem prac oraz wytyczeniem kierunków dalszych badań.
The article presents the results of work on a project for a two-wheeled self-balancing mobile platform prepared as part of engineering work. The purpose of creating the structure was to enable the increased mobility of an adult over short distances in an urbanized environment. The whole design work was divided into several parts. In the first stage, requirements were assumed for the design of the device, electrical elements chosen, and a diagram of their electrical connections is presented. In the second part, the created CAD model of the structure is presented and some of mechanical elements described. In order to check the strength of the structure, the FEM analysis of the device body was carried out. The penultimate part was to analyze the problem of the inverted pendulum, which allowed to separate the state space model into a base subsystem and a control stick subsystem necessary to develop the control for the platform. In the last part, a stabilizing algorithm based on the LQR regulator was prepared and the use of sensory fusion in the form of a Kalman filter was focused on in order to increase the accuracy of determining the angle of deflection of the structure. Finally, simulations were prepared in the Simulink environment in order to check the correctness of the prepared algorithm. The whole was crowned with a summary of the work and setting directions for further research.
Źródło:
Mining – Informatics, Automation and Electrical Engineering; 2022, 60, 2; 35--52
2450-7326
2449-6421
Pojawia się w:
Mining – Informatics, Automation and Electrical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Wyświetlanie 1-15 z 170

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