论文标题
观察者设计的惯性轮摆和静态摩擦
Observer Design for an Inertia Wheel Pendulum with Static Friction
论文作者
论文摘要
考虑了惯性惯性椎间盘的静态摩擦，提出了惯性轮摆的状态观察者设计。摩擦力是由stribeck效应建模的，分别用两个独立的微分方程描述了粘性和不变系统。两种情况之间的过渡通常由静态摩擦条件确定。为粘附模型和非粘模型设计了三个提出的观察者。根据当前测量值的相应模型的概率，选择了越可能进行状态估计。在实验室演示者上演示了该性能，其中比较了包括提出的概率模型选择的观察者。
A state observer design for the inertia wheel pendulum considering static friction of the actuated inertia disc is presented. The frictional force is modeled by the Stribeck effect, with two separate differential equations describing the sticking and non-sticking system, respectively. The transition between the two scenarios is in general determined by a static friction condition. Three proposed observers are designed for both the sticking and non-sticking model. Depending on the probability of the respective model given a current measurement, the more likely is selected for state estimation. The performance is demonstrated on a laboratory demonstrator, where the observers including the proposed probabilistic model selection are compared.
