The Unscented Kalman Filter

Wan, Eric A.; Merwe, Rudolph van der

doi:10.1002/0471221546.ch7

Cited by 822 publications

(558 citation statements)

References 39 publications

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“…With complex leakage inductance from (66) and (67), influence of the rotor bar defect is respected in the machine control. With L ld = L of f set = L l and L lq = 0 above relations are valid for symmetric machine and obtain the same form as in (6)- (15).…”

Section: Control Of An Induction Machine With Rotor Asymmetriesmentioning

confidence: 73%

“…The core idea of UKF lies in unscented transformation, the way of propagating Gaussian random variables (GRV) through a nonlinear mapping. The unscented transformation is performed using socalled sigma points, a minimal set of carefully chosen sample points that enables better capturing of mean and covariance of GRVs than simple point-linearization of the mapping: posterior mean and covariance are accurate to the second order of the Taylor series expansion for any nonlinearity as proven in [15].…”

Section: Unscented Kalman Filter Algorithmmentioning

confidence: 99%

“…Computational effort of UKF with carefully implemented algorithm can be similar to that of the EKF. More information can be found in [14] and [15] while different applications of UKF are presented in [16,17]. The UKF algorithm is given in the sequel.…”

Section: Unscented Kalman Filter Algorithmmentioning

confidence: 99%

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Fault-tolerant Control of a Wind Turbine with a Squirrel-cage Induction Generator and Rotor Bar Defects

et al. 2013

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Original scientific paperWind turbines are usually installed on remote locations and in order to increase their economic competence malfunctions should be reduced and prevented. Faults of wind turbine generator electromechanical parts are common and very expensive. This paper proposes a fault-tolerant control strategy for variable-speed variable-pitch wind turbines in case of identified and characterised squirrel-cage generator rotor bar defect. An upgrade of the torque control loop with flux-angle-based torque modulation is proposed. In order to avoid or to postpone generator cage defects, usage of pitch controller in the low wind speed region is introduced. Presented fault-tolerant control strategy is developed taking into account its modular implementation and installation in available control systems of existing wind turbines to extend their life cycle and energy production. Practical implementation aspects such as estimation of variables used in control and estimate errors are considered and respected in operation, as well as fault-induced asymmetries. Simulation results for the case of a megawatt class wind turbine and the identified rotor bar fault are presented.Key words: Wind turbine control, Torque control, Generator fault-tolerant control, Nonlinear estimation, Asymmetric field-oriented controlUpravljanje vjetroagregatom otporno na oštećenja kaveza asinkronog generatora. Vjetroagregati se obično postavljaju na udaljene, nepristupačne lokacije te je potrebno spriječiti nastanak kvarova da bi se povećala njihova ekonomska konkurentnost. Kvarovi elektromehaničkih dijelova generatora vjetroagregatačesti su i vrlo skupi. U ovom radu predstavljen je koncept upravljanja vjetroagregatima s promjenjivom brzinom vrtnje i zakretom lopatica za slučaj identificiranog i okarakteriziranog oštećenja kaveza asinkronog generatora. Predložena je nadogradnja na postojeći algoritam upravljanja momentom zasnovana na njegovoj modulaciji s obzirom na položaj magnetskog toka generatora. Da bi se izbjeglo ili usporilo širenje napuknuća kaveza generatora, predložena je primjena regulacijskog kruga za zakret lopatica i u režimu rada vjetroagregata ispod nazivne brzine vrtnje. Predstavljena strategija upravljanja razvijena je uvažavajući mogućnost modularnog nadovezivanja na postojeće metode upravljanja već postavljenih vjetroagregata s ciljem produženja njihova životnog vijeka i povećanja proizvodnje energije. Razmatrani su i uvaženi aspekti vezani uz praktičnu izvedbu, kao što je estimacija varijabli korištenih u upravljackom algoritmu i pripadajuće pogreške estimata, kao i nesimetrije uzrokovane nastankom kvara. U radu su dani simulacijski rezultati za slučaj vjetroagregata iz megavatne klase s dijagnosticiranim napuknućem kaveza rotora.Ključne riječi: upravljanje vjetroagregatom, upravljanje momentom, upravljanje otporno na kvarove generatora, nelinearna estimacija, vektorsko upravljanje nesimetričnog stroja

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Section: Control Of An Induction Machine With Rotor Asymmetriesmentioning

confidence: 73%

Section: Unscented Kalman Filter Algorithmmentioning

confidence: 99%

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Fault-tolerant Control of a Wind Turbine with a Squirrel-cage Induction Generator and Rotor Bar Defects

et al. 2013

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“…The iterative unscented Kalman smoother [5,6] (IUKS) replaces the local linearisation of IEKS by a deterministic sampling technique. The sampled points are propagated through the nonlinearities, and a Gaussian distribution is fitted to them.…”

Section: Inference Methodsmentioning

confidence: 99%

“…The double inverted pendulum system [6] (see Figure 1) is a standard benchmark in the field of control. The system consists of a cart and a two-part pole attached to the cart.…”

Section: Double Inverted Pendulummentioning

confidence: 99%

State Inference in Variational Bayesian Nonlinear State-Space Models

Raiko

Tornio

Honkela

et al. 2006

Independent Component Analysis and Blind Signal Separation

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Abstract. Nonlinear source separation can be performed by inferring the state of a nonlinear state-space model. We study and improve the inference algorithm in the variational Bayesian blind source separation model introduced by Valpola and Karhunen in 2002. As comparison methods we use extensions of the Kalman filter that are widely used inference methods in tracking and control theory. The results in stability, speed, and accuracy favour our method especially in difficult inference problems.

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A practical scheme of the sigma‐point Kalman filter for high‐dimensional systems

Tang

Deng

Manoj

et al. 2014

J Adv Model Earth Syst

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While applying a sigma-point Kalman filter (SPKF) to a high-dimensional system such as the oceanic general circulation model (OGCM), a major challenge is to reduce its heavy burden of storage memory and costly computation. In this study, we propose a new scheme for SPKF to address these issues. First, a reduced rank SPKF was introduced on the high-dimensional model state space using the truncated single value decomposition (TSVD) method (T-SPKF). Second, the relationship of SVDs between the model state space and a low-dimensional ensemble space is used to construct sigma points on the ensemble space (ET-SPKF). As such, this new scheme greatly reduces the demand of memory storage and computational cost and makes the SPKF method applicable to high-dimensional systems. Two numerical models are used to test and validate the ET-SPKF algorithm. The first model is the 40-variable Lorenz model, which has been a test bed of new assimilation algorithms. The second model is a realistic OGCM for the assimilation of actual observations, including Argo and in situ observations over the Pacific Ocean. The experiments show that ET-SPKF is computationally feasible for high-dimensional systems and capable of precise analyses. In particular, for realistic oceanic assimilations, the ET-SPKF algorithm can significantly improve oceanic analysis and improve ENSO prediction. A comparison between the ET-SPKF algorithm and EnKF (ensemble Kalman filter) is also tribally conducted using the OGCM and actual observations.

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The Unscented Kalman Filter

Cited by 822 publications

References 39 publications

Fault-tolerant Control of a Wind Turbine with a Squirrel-cage Induction Generator and Rotor Bar Defects

Fault-tolerant Control of a Wind Turbine with a Squirrel-cage Induction Generator and Rotor Bar Defects

State Inference in Variational Bayesian Nonlinear State-Space Models

A practical scheme of the sigma‐point Kalman filter for high‐dimensional systems

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