Alpha Beta Gamma Filter for Cascaded PID Motor Position Control

Ng, Khin Hooi; Yeong, Che Fai; Su, Eileen Lee Ming; Wong, Liang Xuan

doi:10.1016/j.proeng.2012.07.169

Cited by 10 publications

(8 citation statements)

References 10 publications

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“…The   filter estimates the next step of the states of a system according to the typical equations of kinematics and corrects these estimations through the multiplication of positions estimation residuals with constant gains. The   filter predicts the position and velocity that describe the dynamics of rocket flight (Kosuge, Ito, Okada & Mano, 2002;Ng, Yeong, Su & Wong, 2012;Tenne & Singh, 2002;Wu, Chang & Chu, 2011).…”

Section:   Filtermentioning

confidence: 99%

“…These studies aim to develop and apply more robust algorithms for real-world problems. Considering such requirements, the α-β filter (Kosuge, Ito, Okada & Mano, 2002;Ng, Yeong, Su & Wong, 2012;Tenne & Singh, 2002;Yadav, Naik, Ananthasayanam, Gaur & Singh, 2012) and SKF (Abreu, Neto & Oliveira, 2011;Chui & Chen, 2008;Kalman, 1960;Welch & Bishop, 2006) were the most widely used algorithms.…”

Section: Introductionmentioning

confidence: 99%

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Rocket tracking impact point prediction using α-β, standard Kalman, extended, Kalman, and unscented Kalman filters: a comparative analysis

Abreu

Oliveira

Neto

2020

RSD

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Accurate information about the impact point (IP) of a suborbital rocket on Earth’s surface during a launch is an important requirement for range safety operations. Four different estimators, i.e., the α-β filter, standard Kalman filter (SKF), extended Kalman filter (EKF), and unscented Kalman filter (UKF), are considered for the suborbital rocket tracking problem, whose data are used specifically for improving the accuracy of the IP prediction (IPP) of these vehicles. This paper presents a comparative analysis between the results of the estimators. Rocket flight data are discussed to demonstrate the advantages and disadvantages of the estimators and to determine the inherent limitations in predicting the aerodynamic effects found in certain flight situations. We discuss the appropriate mathematical model of a filter capable of running the real-time algorithm for the estimation of target position and velocity. This work uses actual data from a radar sensor to evaluate the tracking algorithms. We insert the filter result into the mathematical model developed to predict the rocket IP on Earth's surface. The main goal of this study is to evaluate the performance of four different estimators when specifically applied for the improvement of the IPP of suborbital rockets. It is demonstrated that the UKF outperforms all other tracking algorithms in terms of the accuracy and robustness of IP estimation.

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Section:   Filtermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Rocket tracking impact point prediction using α-β, standard Kalman, extended, Kalman, and unscented Kalman filters: a comparative analysis

Abreu

Oliveira

Neto

2020

RSD

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“…This error is an index of the tracking performance. When x ok = 1/2 a c (kT) 2 (where a c is the constant acceleration), the bias error is expressed as [5,8].…”

Section: Bias Error For Constant Acceleration Target (Tracking Performance Index)mentioning

confidence: 99%

Untitled

2016

Int J Signal Process Anal

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This letter describes a design method for an α-β tracker based on a steady-state performance index. An efficient steady-state index that expresses the comprehensive performance of the smoothing of noise and the tracking of an accelerating target is presented. Using the defined performance index, the automatic determination of the filter gains is presented as a novel design method for an α-β tracker. The proposed method exhibits better accuracy than the well-known Kalman filter-based α-β trackers. Moreover, its design parameter is easily determined based on the assumed target motion. Numerical simulations verify the effectiveness of the proposed design method for targets with realistic motion.

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“…Many kinds of controllers have been proposed and evaluated for positioning systems. The PID controller performance still in investigation dealing with positioning system, in the example, the cascaded PID controller was proposed to reduce nonlinearities factors such as friction and power saturation [1]. The PID controller designed with dominant pole placement method provides one more parameter than the conventional PID controller to get better performances [2].…”

Section: Introductionmentioning

confidence: 99%

Point-to-point practical controller performance in an experimental two-axes belt driven mechanism

Purtoj¹,

Mulfiyandi²

2018

MATEC Web Conf.

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Abstract. High accuracy, fast response with no or small overshoot, and robust to object uncertainties are such performance required in a point-to-point positioning system. In order to achieve those performances, a good controller is required. A nominal characteristic trajectory following controller is one type of practical controllers which already has shown it good point-to-point positioning performance. Its structure consists of a nominal characteristic trajectory and a compensator. The design of the controller is based on a simple open loop experiment to construct a nominal characteristic trajectory. Information from nominal characteristic trajectory was then used to design the compensator. This practical approach was implemented in several different controlled objects, but limited to, system with a high stiffness mechanism. In this work, a nominal characteristic trajectory following controller was implemented on a low stiffness mechanism. An experimental two-axes belt driven mechanism was used as a controlled object. The actuator to drive the mechanism was electric motors with integrated encoders. Both axes with different characteristics identified through a simple open loop experiments and nominal characteristic trajectory constructed using speed and position data. A proportional integral compensator is selected in this work and was designed according to information from a nominal characteristic trajectory. In order to evaluate controller performance, point to point operation was conducted through simulation and experiment.

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Alpha Beta Gamma Filter for Cascaded PID Motor Position Control

Cited by 10 publications

References 10 publications

Rocket tracking impact point prediction using α-β, standard Kalman, extended, Kalman, and unscented Kalman filters: a comparative analysis

Rocket tracking impact point prediction using α-β, standard Kalman, extended, Kalman, and unscented Kalman filters: a comparative analysis

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Point-to-point practical controller performance in an experimental two-axes belt driven mechanism

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