Szabo, Adam (Budapest University of Technology and Economics), Bécsi, Tamás (Budapest Univ of Technology and Economics), Gaspar, Peter (MTA SZTAKI), Aradi, Szilárd (Budapest University of Technology and Economics)

State Estimation of an Electro-Pneumatic Gearbox Actuator

Scheduled for presentation during the Regular Session "Vehicle control : Gearbox" (TuBT2), Tuesday, June 25, 2019, 15:25−15:45, Chenonceau

9th IFAC International Symposium on Advances in Automotive Control, June 23-27, 2019, Orléans, France

This information is tentative and subject to change. Compiled on April 24, 2024

Abstract

This paper presents two state estimator algorithms, Kalman and Extended Kalman lters in order to determine the chamber pressures of a pneumatic actuator without the application of pressure sensors. The presented state estimators were validated against laboratory measurements, then it was shown, that in applications with high computational resources, such as simulations both algorithms can provide acceptable results and they have nearly the same accuracy. Meanwhile, in embedded systems with higher realizable sample time the Kalman lter, which is based on the linearized state-space representation of the system, can not handle the nonlinear behavior of the actuator in every test case. Based on the validation results, a suggestion was made in order to further improve the accuracy of the presented methods.