Velocity estimation of flexible dynamics systems using virtual sensing

Alireza Naderi Akhormeh; Hoomaan MoradiMaryamnegari; Abdol Majid Khoshnood; Ahmad Samiee

doi:10.1016/j.isatra.2020.10.017

Velocity estimation of flexible dynamics systems using virtual sensing

ISA Trans. 2021 Mar:109:242-258. doi: 10.1016/j.isatra.2020.10.017. Epub 2020 Oct 6.

Authors

Alireza Naderi Akhormeh¹, Hoomaan MoradiMaryamnegari², Abdol Majid Khoshnood³, Ahmad Samiee⁴

Affiliations

¹ Aerospace Engineering Department, K.N. Toosi University of Technology, Tehran, Iran. Electronic address: ar.naderi@mail.kntu.ac.ir.
² Faculty of Science and Technology, Free University of Bozen-Bolzano, Bolzano, Italy. Electronic address: hoomaan.moradimaryamnegari@unibz.it.
³ Aerospace Engineering Department, K.N. Toosi University of Technology, Tehran, PO Box 16765-3381, Iran. Electronic address: khoshnood@kntu.ac.ir.
⁴ Mechatronic Engineering Department, Islamic Azad University, Science and Research Branch, Tehran, Iran. Electronic address: Ahmad.samiee@srbiau.ac.ir.

PMID: 33046239
DOI: 10.1016/j.isatra.2020.10.017

Abstract

In this paper, multiple virtual sensors derived from the equations of motion of a flexible dynamics system, are utilized to form a novel virtual sensing system able to estimate the angular and translation velocities. Measuring only the elastic displacement of the flexible body by a strain gauge, angular velocities are estimated by the first virtual sensor composed of a kinetics equation related to the flexibility, and the nonlinear Kalman and particle filters. Moreover, for translational velocities to be also estimated, specific forces are measured by accelerometers. The second virtual sensor including the equation of translational motion, is added to the virtual sensing system, leading not only the velocities to be estimated with high performance but the accumulated errors of the sensors to be corrected.

Keywords: Multiple virtual sensors; Soft sensing; Velocity estimation; Virtual sensing.