Синтез наблюдателя Калмана системы нелинейного электропривода оптико-механического комплекса

Abstract

The electric drive of the optical-mechanical complex is considered as a three-mass elastic system. The coefficients of elasticity in this case cannot be measured by the sensor and are not fixed by the operating time of the device. The synthesis of observers using the adaptive extended Kalman filter, estimating variables in a three-mass elastic system, is a necessity in electric drive control systems of the optical-mechanical complex. The mathematical model of the three-mass electric drive system of the optical-mechanical complex is built with taking into account nonlinear elastic factors. The Kalman observer is built in combination vector control system with a permanent magnet synchronous motor. This is an important part before the synthesis of the nonlinear predictive controller for electromechanical drive system of the optical-mechanical complex. Simulation results are executed in the MatLab/Simulink environment.