State estimation of an electro-pneumatic gearbox actuator

摘要

This paper presents two state estimator algorithms, a Kalman and an Extended Kalman filter in order to determine the chamber pressures of a pneumatic actuator without the application of pressure sensors. The presented state estimators were validated against laboratory measurements, then it was shown, that in applications with high computational resources, such as simulations both algorithms can provide acceptable results and they have nearly the same accuracy. Meanwhile, in embedded systems with higher realizable sample time the Kalman filter, which is based on the linearized state-space representation of the system, can not handle the nonlinear behavior of the actuator in every test case. Based on the validation results, a suggestion was made in order to further improve the accuracy of the presented methods.