Identyfikacja platformy obrotowej z napędem elektrycznym przy wykorzystaniu filtrów różniczkujących
Identification of the platform with electric drive using a differentiating filters
Keywords:
differential filter, rotating platform with electric drive, identification of model parameters, dynamical model, least squares method
Abstract
The paper presents an example of solving the parameter identification problem in case of platform with one degrees of freedom has been also presented. The parameter identification algorithm based on linear parameterization of the platform model and the least square criteria is developed. The desired derivatives of measured signals are estimated by means of designed differentiation filters. The required derivative order depends on the order of differential equations describing the object. The model was identified and verified using measurement results obtained for a real system.
References
1. Antoniw U., Myczuda Ł., Myczuda Z., Szcześniak A., Logarithmic analog-to-digital converter with accumulation of charge and pulse feedback, Przegląd Elektrotechniczny, Volume 89, Issue 8, August 2013, pp. 277-281.
2. Cedro L., Janecki D., Determining of Signal Derivatives in Identification Problems -FIR Differential Filters, Acta Montanistica Slovaca, R 16, ISSN 1335-1788, 47-54, 2011.
3. Ciosmak J., Algorytm wyznaczania nieseparowalnych dwuwymiarowych zespołów filtrów dla potrzeb systemów transmultipleksacji, Przegląd Elektrotechniczny, 11/2011, ISSN 0033-2997, 217-220.
4. Formánek I., Farana R., Drive dynamic analysis - The key to optimal drive performance, Applied Mechanics and Materials, Volume 611, 2014, pp. 208-215.
5. Idzikowski J. Zellma M., Identyfikacja równań dynamiki silnika prądu stałego, Zeszyty naukowe Akademii Marynarki Wojennej, XLV nr 3 (158) 2004.
6. Jun-Sheng Y., Zu-Xun Z., Differentiation, semidifferentiation and semiintegration of a digital signals based on Fourier transformations, J. Electroanal. Chem., 403: 1-9, 1996.
7. Kot A., Nawrocka A., Balance platform vibration control, Journal of Low Frequency Noise Vibration and Active Control, 2013 vol. 32 no. 3, s. 227–237
8. Krzysztofik I., Koruba Z., Adaptive control of anti-aircraft missile launcher mounted on a mobile base, Theoretical & Applied Mechanics Letters, Volume 2, Number 4, 2012.
9. Mocak J., Janiga I., Rievaj M., Bustin D., The Use of Fractional Differentiation or Integration for Signal Improvement, Measurement Science Review, Volume 7, Section 1, No. 5, 2007.
10. Nawrocka A., Kot A., Nawrocki M., Biomedical signal identification and analysis, Journal of Vibroengineering, 2012 vol. 14 iss. 2, s. 546–552
11. Pintelon R., Schoukens J., Real-Time Integration and Differentiation of Analog Signals by Means of Digital Filtering, IEEE Transactions On Instrumentation And Measurement. Vol. 39, No. 6, December 1990.
12. Stefański T., Zawarczyński Ł., Identyfikacja parametryczna modeli matematycznych silników ze wzbudzeniem od magnesów trwałych, Przegląd Elektrotechniczny, 2012, Tom: 88, Zeszyt: 4b, pp: 224-229.
13. Stefański T., Zawarczyński Ł., Identyfikacja parametryczna modelu matematycznego silnika bezszczotkowego prądu stałego, Pomiary Automatyka Kontrola, PAK vol. 57, nr 1/2011.
14. Szcześniak A., Mychuda Z., A method of charge accumulation in the logarithmic analog-to digital converter with a successive approximation, Przegląd Elektrotechniczny, Volume 86, Issue 10, 2010, pp. 336-340.
15. Valasek R., Pavliska V., Perfilieva I., Farana R., Application of Fuzzy Transform for Noise Reduction in Helicopter Model Identification, In Proceedings of the 2013 14th ICCC. Rytro, Poland: AGH University of Science and Technology, 26. – 29. 5. 2013, pp 400–405. ISBN 978-1-4673-4489-0. IEEE Catalog Number: CFP1342L-CDR.
16. Viteckova M., Vitecek A., Simple Digital Controller Tuning, In Proceedings of the 2013 14th ICCC Rytro, Poland: AGH University of Science and Technology, 26–29.5.2013, ISBN 978-1-4673-4489-0. IEEE Catalog Number: CFP1342L-CDR.
17. Viteckova M., Vitecek A., Ultimate parameters in control technology, 2013 14th, ICCC 2013; Rytro; Poland; 26 May 2013 through 29 May 2013; ISBN 978-1-4673-4489-0, Category number CFP1342L-CDR; pp. 423-427.
18. Woś P., Dindorf R., Adaptive control of the electro-hydraulic servo-system with external disturbance, Asian Journal of Control, Vol.15, No.4, 2013,1065-1080.
2. Cedro L., Janecki D., Determining of Signal Derivatives in Identification Problems -FIR Differential Filters, Acta Montanistica Slovaca, R 16, ISSN 1335-1788, 47-54, 2011.
3. Ciosmak J., Algorytm wyznaczania nieseparowalnych dwuwymiarowych zespołów filtrów dla potrzeb systemów transmultipleksacji, Przegląd Elektrotechniczny, 11/2011, ISSN 0033-2997, 217-220.
4. Formánek I., Farana R., Drive dynamic analysis - The key to optimal drive performance, Applied Mechanics and Materials, Volume 611, 2014, pp. 208-215.
5. Idzikowski J. Zellma M., Identyfikacja równań dynamiki silnika prądu stałego, Zeszyty naukowe Akademii Marynarki Wojennej, XLV nr 3 (158) 2004.
6. Jun-Sheng Y., Zu-Xun Z., Differentiation, semidifferentiation and semiintegration of a digital signals based on Fourier transformations, J. Electroanal. Chem., 403: 1-9, 1996.
7. Kot A., Nawrocka A., Balance platform vibration control, Journal of Low Frequency Noise Vibration and Active Control, 2013 vol. 32 no. 3, s. 227–237
8. Krzysztofik I., Koruba Z., Adaptive control of anti-aircraft missile launcher mounted on a mobile base, Theoretical & Applied Mechanics Letters, Volume 2, Number 4, 2012.
9. Mocak J., Janiga I., Rievaj M., Bustin D., The Use of Fractional Differentiation or Integration for Signal Improvement, Measurement Science Review, Volume 7, Section 1, No. 5, 2007.
10. Nawrocka A., Kot A., Nawrocki M., Biomedical signal identification and analysis, Journal of Vibroengineering, 2012 vol. 14 iss. 2, s. 546–552
11. Pintelon R., Schoukens J., Real-Time Integration and Differentiation of Analog Signals by Means of Digital Filtering, IEEE Transactions On Instrumentation And Measurement. Vol. 39, No. 6, December 1990.
12. Stefański T., Zawarczyński Ł., Identyfikacja parametryczna modeli matematycznych silników ze wzbudzeniem od magnesów trwałych, Przegląd Elektrotechniczny, 2012, Tom: 88, Zeszyt: 4b, pp: 224-229.
13. Stefański T., Zawarczyński Ł., Identyfikacja parametryczna modelu matematycznego silnika bezszczotkowego prądu stałego, Pomiary Automatyka Kontrola, PAK vol. 57, nr 1/2011.
14. Szcześniak A., Mychuda Z., A method of charge accumulation in the logarithmic analog-to digital converter with a successive approximation, Przegląd Elektrotechniczny, Volume 86, Issue 10, 2010, pp. 336-340.
15. Valasek R., Pavliska V., Perfilieva I., Farana R., Application of Fuzzy Transform for Noise Reduction in Helicopter Model Identification, In Proceedings of the 2013 14th ICCC. Rytro, Poland: AGH University of Science and Technology, 26. – 29. 5. 2013, pp 400–405. ISBN 978-1-4673-4489-0. IEEE Catalog Number: CFP1342L-CDR.
16. Viteckova M., Vitecek A., Simple Digital Controller Tuning, In Proceedings of the 2013 14th ICCC Rytro, Poland: AGH University of Science and Technology, 26–29.5.2013, ISBN 978-1-4673-4489-0. IEEE Catalog Number: CFP1342L-CDR.
17. Viteckova M., Vitecek A., Ultimate parameters in control technology, 2013 14th, ICCC 2013; Rytro; Poland; 26 May 2013 through 29 May 2013; ISBN 978-1-4673-4489-0, Category number CFP1342L-CDR; pp. 423-427.
18. Woś P., Dindorf R., Adaptive control of the electro-hydraulic servo-system with external disturbance, Asian Journal of Control, Vol.15, No.4, 2013,1065-1080.
Published
2018-06-21
Issue
Section
Eksploatacja i Testy/Exploitation and Tests
Copyright (c) 2018 Autobusy – Technika, Eksploatacja, Systemy Transportowe
This work is licensed under a Creative Commons Attribution 4.0 International License.
