Search results for "Extended Kalman Filter"

Tuning of Extended Kalman Filters for Sensorless Motion Control with Induction Motor

2019

This work deals with the tuning of an Extended Kalman Filter for sensorless control of induction motors for electrical traction in automotive. Assuming that the parameters of the induction motor-load model are known, Genetic Algorithms are used for obtaining the system noise covariance matrix, considering the measurement noise covariance matrix equal to the identity matrix. It is shown that only stator currents have to be acquired for reaching this objective, which is easy to accomplish using Hall-effect transducers. In fact, the Genetic Algorithm minimizes, with respect to the system covariance matrix, a suitable measure of the displacement between the stator currents experimentally acquir…

Diagnostic of Supercapacitors based on State Estimation through Extended Kalman Filter

This thesis aimed to analyze the supercapacitor behavior to verify the possibility of the estimation of its internal parameters for diagnostic purposes. The target has been reached firstly by a theoretical analysis which showed that the crucial parameters for diagnostic purposes are the voltage of the non-linear capacitance, since it gives a measure of the stored charge, and the parasitic resistance which limits the maximum allowable current and influences losses. Secondly it has been verified when a supercapacitor parameters are observable and finally an extended Kalman filter to obtain such parameters has been set up. The Thesis demonstrated that a supercapacitor can be modelled by a 2-br…

AN EXTENDED KALMAN FILTER BASED TECHNIQUE FOR ON-LINE IDENTIFICATION OF UAS PARAMETERS.

2015

The present article deals with the identification,at the same time, of aircraft stability and control parameters taking into account dynamic damping derivatives. Such derivatives,due to the rate of change of the angle of attack, are usually neglected. So the damping characteristics of aircraft dynamics are attributed only on pitch rate derivatives. To cope with the dynamic effects of these derivatives, authors developed devoted procedures to estimate them. In the present paper, a complete model of aerodynamic coefficients has been tuned-up to identify simultaneously the whole set of derivatives. Besides, in spite of the employed reduced order model and/or decoupled dynamics, a six degrees o…

Ship-to-Ship State Observer Using Sensor Fusion and the Extended Kalman Filter

2019

In this paper, a solution for estimating the relative position and orientation between two ships in six degrees-of-freedom (6DOF) using sensor fusion and an extended Kalman filter (EKF) approach is presented. Two different sensor types, based on time-of-flight and inertial measurement principles, were combined to create a reliable and redundant estimate of the relative motion between the ships. An accurate and reliable relative motion estimate is expected to be a key enabler for future ship-to-ship operations, such as autonomous load transfer and handling. The proposed sensor fusion algorithm was tested with real sensors (two motion reference units (MRS) and a laser tracker) and an experime…

An EKF Based Method for Path Following in Turbulent Air

2017

An innovative use of the Extended Kalman Filter (EKF) is proposed to perform both accurate path following and adequate disturbance rejection in turbulent air. The tuned up procedure employs simultaneously two different EKF: the first one estimates gust disturbances, the second one estimates modified aircraft parameters. The first filter, by using measurements gathered in turbulent air, estimates both aircraft states and wind components. The second one, by using the estimated disturbances, obtains command laws that are able to reject disturbances. The predictor of the second EKF uses the estimated wind components to solve motion equations in turbulent air. Besides a set of unknown stability …

Estimation of turbulence and state based on EKF for a tandem Canard UAV

2008

This paper deals with the state and turbulence estimation of a model describing the longitudinal dynamics of an Unmanned Aerial Vehicle (UAV). Due to both the high nonlinearities of the model and the stochastic nature of disturbances, an Extended Kalman Filter (EKF) is proposed. To allow the estimator to be employed on low cost UAV systems, it is assumed that the aircraft is equipped with a low performance GPS, characterized by a relatively low refresh rate. The designed EKF is able to work efficiently in both turbulent and calm atmosphere. In order to obtain information about the performances of the proposed estimator for control purposes, a control system, consisting of the EKF, a PID-typ…

Sustainable Method Using Filtering Techniques for a Fermentation Process State Estimation

2020

Winemaking is concerned about sustainable energy availability that implies new methods for process monitoring and control. The aim of this paper is to realize a comparative analysis of the possibilities offered using estimation techniques, balances, and filtering techniques such as the Kalman filter (KF) and the extended Kalman filter (EKF), to obtain indirect information about the alcoholic fermentation process during winemaking. Thus, an estimation solution of the process variables in the exponential growing phase is proposed, using an extended observer. In addition, two estimation solutions of this process with the EKF and an estimation of the decay phase of the fermentation process are …

Parameter identification and state estimation of a microalgae dynamical model in sulphur deprived conditions: Global sensitivity analysis, optimizati…

2014

International audience; In this article, a dynamic model describing the growth of the green microalgae Chlamydomonas reinhardtii , under light attenuation and sulphur‐deprived conditions leading to hydrogen production in a photobioreactor is presented. The strong interactions between biological and physical phenomena require complex mathematical expressions with an important number of parameters. This article presents a global identification procedure in three steps using data from batch experiments. First, it includes the application of a sensitivity function analysis, which allows one to determine the parameters having the greatest influence on model outputs. Secondly, the most influentia…

Automatic EKF tuning for UAS path following in turbulent air

2018

By using two simultaneously working Extended Kalman Filters, a procedure is implemented in order to perform in a fully autonomous way the path following in turbulent air. To guarantee the robustness of the proposed algorithm, an automatic tuning procedure is proposed to determine optimal values of Process and Measurement Noise statistics. Such a procedure is based on both the characteristics of the disturbances and the desired flight path; in particular, a specific performance index is applied to tune filters. In this way control laws are adapted to the flight condition and these lead to an optimal path-following. This research represents an upload of previous papers. It allows eliminating …

Robustness Analysis of an Extended Kalman Filter for Sensorless Control of Induction Motors

2010

This paper deals with robustness analysis of Extended Kalman Filters (EKFs) for sensorless motion control of induction motors. Analysis is carried out by means of simulation experiments considering a conventional EKF, in which system and measurement noise covariance matrices are constant, and an adaptive EKF in which the system noise covariance matrix is updated on-line using a PID-type algorithm driven by the stator current estimation errors.