Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020 |
| Erscheinungsort | Bejing, China |
| Seiten | 742-749 |
| Seitenumfang | 8 |
| ISBN (elektronisch) | 9781728164151 |
| Publikationsstatus | Veröffentlicht - 2020 |
Publikationsreihe
| Name | IEEE International Conference on Mechatronics and Automation, ICMA 2020 |
|---|
Abstract
For many problems in the field of control design phenomenological models are required so that the need for parameter identification of given model structures arises. These models can be combined with observers to derive the system states in operation in addition to the parameters. However, identification and observation are limited in accuracy due to the restriction to existing series sensors. In the case of electric drives it is possible that due to elasticities in the structure part of the system is vibrating while the position sensor measures a nearly constant position. In this paper, the use of additional acceleration sensors is investigated in terms of identifiability and observability, which are installed at different points of the structure. The analysis is traced back to measures on the sensitivity matrix, where the integrating behaviour of the plant and the combination of different sensor types (position, velocity, acceleration) require special consideration. An industry-like stacker crane is used as a testbed for validation. It is shown that both identifiability and observability can be improved by the additional sensors in many cases. There is a good agreement between the expected and measured frequency response when the acceleration sensor is mounted on the first or second mass. Deviations only occur when mounted on the load suspension device, which is assumed to be the third mass.
Schlagwörter
- Multisensor System, Degree of Identifiability, Degree of Observability, Integrating Systems, Servo Systems
ASJC Scopus Sachgebiete
- Informatik (insg.)
- Artificial intelligence
- Ingenieurwesen (insg.)
- Maschinenbau
- Mathematik (insg.)
- Steuerung und Optimierung
- Ingenieurwesen (insg.)
- Elektrotechnik und Elektronik
- Informatik (insg.)
- Computernetzwerke und -kommunikation
- Informatik (insg.)
- Angewandte Informatik
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- BibTex
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2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020. Bejing, China, 2020. S. 742-749 9233630 (IEEE International Conference on Mechatronics and Automation, ICMA 2020).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - Multisensor-Configuration for Improved Identifiability and Observability of Electromechanical Motion Systems
AU - Tantau, Mathias
AU - Wielitzka, Mark
AU - Ortmaier, Tobias
N1 - Funding information: ACKNOWLEDGMENT This work was sponsored by the German Forschungsvere-inigung Antriebstechnik e.V. (FVA) and the AiF Arbeitsge-meinschaft industrieller Forschungsvereinigungen ”Otto von Guericke“ e.V.
PY - 2020
Y1 - 2020
N2 - For many problems in the field of control design phenomenological models are required so that the need for parameter identification of given model structures arises. These models can be combined with observers to derive the system states in operation in addition to the parameters. However, identification and observation are limited in accuracy due to the restriction to existing series sensors. In the case of electric drives it is possible that due to elasticities in the structure part of the system is vibrating while the position sensor measures a nearly constant position. In this paper, the use of additional acceleration sensors is investigated in terms of identifiability and observability, which are installed at different points of the structure. The analysis is traced back to measures on the sensitivity matrix, where the integrating behaviour of the plant and the combination of different sensor types (position, velocity, acceleration) require special consideration. An industry-like stacker crane is used as a testbed for validation. It is shown that both identifiability and observability can be improved by the additional sensors in many cases. There is a good agreement between the expected and measured frequency response when the acceleration sensor is mounted on the first or second mass. Deviations only occur when mounted on the load suspension device, which is assumed to be the third mass.
AB - For many problems in the field of control design phenomenological models are required so that the need for parameter identification of given model structures arises. These models can be combined with observers to derive the system states in operation in addition to the parameters. However, identification and observation are limited in accuracy due to the restriction to existing series sensors. In the case of electric drives it is possible that due to elasticities in the structure part of the system is vibrating while the position sensor measures a nearly constant position. In this paper, the use of additional acceleration sensors is investigated in terms of identifiability and observability, which are installed at different points of the structure. The analysis is traced back to measures on the sensitivity matrix, where the integrating behaviour of the plant and the combination of different sensor types (position, velocity, acceleration) require special consideration. An industry-like stacker crane is used as a testbed for validation. It is shown that both identifiability and observability can be improved by the additional sensors in many cases. There is a good agreement between the expected and measured frequency response when the acceleration sensor is mounted on the first or second mass. Deviations only occur when mounted on the load suspension device, which is assumed to be the third mass.
KW - Multisensor System
KW - Degree of Identifiability
KW - Degree of Observability
KW - Integrating Systems
KW - Servo Systems
KW - Degree of Identifiability
KW - Degree of Observability
KW - Integrating Systems
KW - Multisensor System
KW - Servo Systems
UR - http://www.scopus.com/inward/record.url?scp=85096619077&partnerID=8YFLogxK
U2 - 10.15488/10396
DO - 10.15488/10396
M3 - Conference contribution
SN - 978-1-7281-6417-5
T3 - IEEE International Conference on Mechatronics and Automation, ICMA 2020
SP - 742
EP - 749
BT - 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
CY - Bejing, China
ER -