Self-tuning of a kalman filter applied in a DC drive and in a kalman-based sensor

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Kalman filters (KFs) are used in many different areas of application that require a solution to discrete-data linear filtering problems. Especially in the field of electric controls KFs represent a very used approach and an integral part of many states of the art of electric controls. However, the practical implementation of the KF often presents difficulties due to the challenging task of getting a good estimate of the covariance of the process noise represented by matrix Qk and of the covariance of the measurement noise represented by matrix Rk. A fitting and simultaneous choice of the matrices Qk and Rk based on a feedback loop within the KF realised by the filter samples can lead to a stable-operating filter after a reasonable amount of iterations. In this paper an approach to apply a feedback loop enabling dynamic values Qk and Rk is presented. This approach will be applied in a simulation using Matlab/Simulink.

Original languageEnglish
Title of host publicationProceedings of the 2019 20th International Carpathian Control Conference, ICCC 2019
EditorsAndrzej Kot, Agata Nawrocka
Number of pages5
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Publication date01.05.2019
Article number8766057
ISBN (electronic)978-1-7281-0701-1 , 978-1-7281-0702-8 , 978-1-7281-0703-5
DOIs
Publication statusPublished - 01.05.2019
Event20st International Carpathian Control Conference - ICCC 2019 - Kraków - Wieliczka, Poland
Duration: 26.05.201929.05.2019
Conference number: 20
https://iccc.agh.edu.pl/

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