Estimating Sway Angle of Pendulum System Using Hybrid State Observer Incorporating Continuous and Discrete Sensing Signals

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2021/01/01

タイトル(英語): Estimating Sway Angle of Pendulum System Using Hybrid State Observer Incorporating Continuous and Discrete Sensing Signals

著者名: Shuta Ano (Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology), Kenta Seki (Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology), Michael Ruderman (Department of Engineering Sciences, Univer

著者名(英語): Shuta Ano (Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology), Kenta Seki (Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology), Michael Ruderman (Department of Engineering Sciences, Univer

キーワード: pendulum system，sway angle estimation，hybrid state observer，discrete sensing signal

要約(英語): This paper presents the design of a hybrid state observer that estimates the sway angle in trolley systems with a pendulum, such as overhead cranes. In the system, sway angle signals detected by angular sensors are generally used for designing the anti-sway control of the pendulum or observing the pendulum state. By contrast, in this study, a linear state observer without sensors is applied to estimate the sway angle of the pendulum. The use of a standard asymptotic state observer leads to estimation error due to the system's nonlinearities and parametric errors. This paper proposes using a hybrid state observer design that combines discrete event sensing with a linear state observer. In the hybrid state observer, the estimation performance is improved by correcting the state of the system based on the discrete sway angle and angular velocity using discrete sensing. In addition, the parametric error of the pendulum length of the system is identified using the same hybrid setting. The effectiveness of the hybrid state observer and the parametric adaptation of the pendulum length are verified by conducting experiments using a downscaled prototype of a trolley system with a pendulum.

本誌: IEEJ Journal of Industry Applications Vol.10 No.1 （2021） Special Issue on “Motor Drive and its Related Technologies”

本誌掲載ページ: 69-75 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/10/1/10_20004820/_article/-char/ja/