Zusammenfassung
In diesem Beitrag wird ein erwartungstreues Filter mit endlicher Impulsantwort (Unbiased Finite Impulse Response/UFIR) zur Systemidentifikation mittels Parameterschätzung verwendet. Dieses entspricht einem Least-Squares-Verfahren auf bewegtem Horizont (Receding Horizon Least Squares/RHLS) ohne die Verwendung von Anfangsbedingungen und mit optimaler Horizontlänge für eine minimale Schätzfehlerkovarianz in Gegenwart von Parameter- und Messrauschen. Eine Messdatensequenz, die ein „intelligenter Sensor“ mit einem Puffer generiert, wird von der Strecke über ein Netzwerk [basierend auf dem Transmission Control Protocol (TCP)] zum Parameterschätzer übertragen. Der Einfluss von stochastisch auftretenden Paketverlusten auf den bisher wenig zur Parameteridentifikation eingesetzten Schätzer wird untersucht. Konvergenz- und Stabilitätsbetrachtungen werden abgeleitet und an einem numerischen Beispiel erläutert.
Abstract
An unbiased finite impulse response filter (UFIR filter) is used for parameter identification. The algorithm is equivalent to the receding horizon least squares method. But it does not require initial conditions and the horizon length is optimised to guarantee a minimal error covariance if there is parameter and measurement noise. A “smart sensor” generates a sequence of measurements. This sequence is sent to the UFIR estimator via a network based on the Transmission Control Protocol (TCP). The effects of package dropouts are investigated. Furthermore a convergence and stability analysis is carried out and approved within numerical studies.
Über die Autoren
Dipl.-Ing. Steffen Siegl ist externer Doktorand am Institut für Steuer– und Regelungstechnik der Fakultät für Luft- und Raumfahrttechnik an der Universität der Bundeswehr München. Hauptarbeitsgebiete: Lineare Schätztheorie, Systemidentifikation, Networked Control Systems.
Prof. Dr.-Ing. Ferdinand Svaricek ist Leiter des Instituts für Steuer– und Regelungstechnik der Fakultät für Luft- und Raumfahrttechnik an der Universität der Bundeswehr München. Hauptarbeitsgebiete: Lineare und nichtlineare Regelung, aktive Schwingungskompensation, Anwendung moderner regelungs– und systemtheoretischer Methoden in der Mechatronik und der Kraftfahrzeugtechnik.
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