Application of a Modified Joint Unscented Kalman Filter for Parameter Estimation of a Class of Mechanical Systems

Year 2024, , 2338 - 2357, 15.12.2024

Altan Onat

https://doi.org/10.31466/kfbd.1561543

Abstract

The unscented Kalman filter (UKF) is a tool for state and parameter estimation in nonlinear dynamical systems. There are two primary approaches for utilizing UKF in parameter and state estimation. The first approach is known as joint filtering, where both states and parameters are estimated concurrently. The second approach, dual filtering, involves the use of two separate filters to estimate states and parameters independently. Recently, a modified joint Unscented Kalman Filter (MJUKF) has been introduced by the author. This modified approach is applicable to a class of nonlinear systems and offers two significant advantages which are improved estimation accuracy and reduced computational complexity. This study investigates the application of the MJUKF for parameter estimation in two selected mechanical systems. The results demonstrate that the modified filter effectively estimates parameters in mechanical systems revealing its advantages over the standard joint unscented Kalman filtering method in terms of both accuracy and computational complexity.

Keywords

Unscented Kalman filter, Parameter estimation, Joint unscented Kalman filter, Coupled tank, Single link flexible joint

Değiştirilmiş Kokusuz Kalman Filtresinin Parametre Tahmini için Bir Mekanik Sistem Sınıfına Uygulanışı

Abstract

Kokusuz Kalman filtresi (KKF), doğrusal olmayan dinamik sistemlerde durum ve parametre tahmini için kullanılan bir araçtır. KKF'nin durum ve parametre tahmininde kullanılmasında iki ana yaklaşım bulunmaktadır. İlk yaklaşım hem durumların hem de parametrelerin eşzamanlı olarak tahmin edildiği birleşik filtreleme olarak bilinir. İkinci yaklaşım ise durum ve parametrelerin bağımsız olarak tahmin edildiği iki ayrı filtrenin kullanıldığı ikili filtreleme yöntemidir. Yakın zamanda, yazar tarafından Değiştirilmiş Birleşik Kokusuz Kalman Filtresi (DBKKF) tanıtılmıştır. Bu değiştirilmiş yaklaşım, doğrusal olmayan sistemlerin bir sınıfına uygulanabilir ve iki önemli avantaj sunar: iyileştirilmiş tahmin doğruluğu ve azaltılmış hesaplama karmaşıklığı. Bu çalışma, DBKKF'nin iki seçilmiş mekanik sistemde parametre tahmini için uygulanmasını incelemektedir. Sonuçlar, değiştirilmiş filtrenin mekanik sistemlerde parametreleri etkin bir şekilde tahmin ettiğini ve hem doğruluk hem de hesaplama karmaşıklığı açısından standart birleşik kokusuz Kalman filtreleme yöntemine göre avantajlarını ortaya koymaktadır.

Keywords

Kokusuz Kalman Filtresi, Parametre tahmini, Birleşik kokusuz Kalman filtresi, Bağlı Tank, Tek bağlantılı esnek eklem

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