Estimation based control of flexible systems-sensorless wave based technique

摘要

This paper presents an algorithm for parametersudand positions estimation of lumped flexible systems. As soon asudthe parameters and the positions are estimated they can be usedudto design virtual sensors that can be moved along the systemudto estimate the position of any lumped mass keeping the systemudfree from any attached sensors. The virtual sensors are nothingudbut a chain of estimators that are connected at the end of eachudother, starting with two actuator’s measurements and ending upudwith system parameters and all the system lumped positions.udAn estimation Based PID controller is presented based on theudfeedback of the virtual sensor’s estimates instead of the actualudmeasurement.