Sensorless Control of an Automated Guided Vehicle Based on Extended Kalman Filter Observer
Özet
In this paper, sensorless velocity and direction angle control of an automated guided vehicle (AGV) is performed by using extended Kalman filter (EKF) observer. The speed information of each motor is estimated by using armature current data measured from dc motor and command voltages applied to motors. The command voltages are used rather than the measured ones therefore only current sensors are needed. The estimated speeds are used to estimate velocity and direction angle of vehicle. The observed velocity and direction angle are used in the closed loop instead of measured ones for sensorless control of AGV. The experimental results show that the EKF observer can perfectly be implemented for sensorless control without using mechanical sensor.
Anahtar kelimeler
Atıf için künye
Başçi, A., Soysal, B., & Derdiyok, A. (2015). Sensorless Control of an Automated Guided Vehicle Based on Extended Kalman Filter Observer. 23nd Signal Processing and Communications Applications Conference (SIU), Malatya (ss. 2666–2669). https://doi.org/10.1109/siu.2015.7130437
BibTeX
@inproceedings{basci2015-181376,
author = {Başçi, Abdullah and Soysal, Birol and Derdiyok, Adnan},
title = {Sensorless Control of an Automated Guided Vehicle Based on Extended Kalman Filter Observer},
booktitle = {23nd Signal Processing and Communications Applications Conference (SIU)},
address = {Malatya},
year = {2015},
pages = {2666--2669},
doi = {10.1109/siu.2015.7130437},
url = {https://akademik.atauni.edu.tr/yayinlar/181376-sensorless-control-of-an-automated-guided-vehicle-based-on-extended-kalman}
}