A Fuzzy Unscented Kalman Filter in the Adaptive Control System of a Drive System with a Flexible Joint

Krzysztof Szabat, Karol Wróbel, Krzysztof Dróżdż, Dariusz Janiszewski, Tomasz Pajchrowski and Adrian Wójcik
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Krzysztof Szabat: Department of Electrical Drives and Measurements, Wrocław University of Science and Technology, PL50370 Wrocław, Poland
Karol Wróbel: Department of Electrical Drives and Measurements, Wrocław University of Science and Technology, PL50370 Wrocław, Poland
Krzysztof Dróżdż: Independent Researcher, PL50370 Wrocław, Poland
Dariusz Janiszewski: Institute of Robotics and Machine Intelligence, Poznan University of Technology, PL60965 Poznan, Poland
Tomasz Pajchrowski: Institute of Robotics and Machine Intelligence, Poznan University of Technology, PL60965 Poznan, Poland
Adrian Wójcik: Institute of Robotics and Machine Intelligence, Poznan University of Technology, PL60965 Poznan, Poland

Energies, 2020, vol. 13, issue 8, 1-18

Abstract: This paper presents an application of an Unscented- and a Fuzzy Unscented- Kalman Filter (UKF and FUKF) to the estimation of mechanical state variables and parameters in a drive system with an elastic connection. The cascade control structure incorporating an IP controller supported by two additional feedbacks and suitable adaptation mechanism is investigated in this study. The coefficients of the control structure are retuned on the basis of the value of mechanical parameters estimated by filter. The effectiveness of the proposed approaches (classical and fuzzy) is researched through simulation and experimental tests.

Keywords: two-mass system; torsional vibration; unscented Kalman filter; adaptive system (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2020
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (8)

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