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Adaptive Control 2011 Part 10

Tham khảo tài liệu 'adaptive control 2011 part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 218 Adaptive control j k l Fig. 8. Transients of the electromagnetic torque a motor speed d real and estimated state variables and their estimation errors load speed b e shaft torque c f load torque g j time constant of the load machine h k adaptive control structure parameters i l in the control structure with simultaneous estimation of the time constant of the load machine and load torque The estimated time constant of the load machine is used in the adaptation law in order to retune the control structure coefficients in accordance with 6 - 9 . The adaptation formula 21 is used to improve the NEKF performance. However in order to ensure the stable work of the control structure the coefficients of the covariance matrices are decreased in comparison to the previous section. The desired values of the resonant frequency of the system and the damping coefficient are c . 45s 1 and r 0.7 respectively. The transients of the system states as well as the control structure coefficient are presented In Fig 8. a b c d e f Adaptive control of the electrical drives with the elastic coupling using Kalman filter 219 g h i t s t s t s j k l Fig. 9. Transients of the electromagnetic torque a motor speed d real and estimated state variables and their estimation errors load speed b e shaft torque c f load torque g j time constant of the load machine h k adaptive control structure parameters i l in the control structure with modified estimation algorithm The system starts work with a misidentified value of the time constant of the load machine T2e 101ms Fig. 8h which results oscillations in the estimated load torque transient. Despite this no visible oscillations appear in the transients of the load speed. After 2s the estimate of the time constant of the load machine reaches its real value. The rapid changing of the load torque causes the oscillations in the estimate of T2e which are noticeable visible at the time t 9s. Still a such big estimation error can not be accepted in the .