2015 12-02-opti wind-test-setup-validation-estimation-techniques-drivetrains-ku-leuven
TRANSCRIPT
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Test setup for virtual sensing on mechatronic drivetrains SBO-OptiWind open project meeting 2-12-2015 Bart Forrier [email protected]
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Overview
1. Goal 2. Approach 3. Numerical validation 4. Experimental validation – test setup 5. Conclusions
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Goal: improve mechatronic drivetrains
Energies 2014, 7(4), 2595-2630; doi:10.3390/en7042595
AC machine nonlinear transmission Load
multi-physical, non-linear
dynamic input
Tload
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Approach: model-based virtual sensing PH
YSIC
AL
VIR
TUAL
Sensor data
Output System info
Control input
Disturbance
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Mechatronic drivetrain • Multi-physical • Nonlinear • Motor measurements Unscented Kalman Filter • Nonlinear • Unknown load • State/input estimation
Numerical validation
1D/3D
1D
Reference model
UKF model
PHYS
ICAL
VI
RTU
AL
Forrier, B., Naets, F., & Desmet, W. (2015). Virtual sensing on mechatronic drivetrains using multiphysical models. ECCOMAS Thematic Conference on Multibody Dynamics. Barcelona, Catalonia, Spain, 29 June - 2 July.
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Numerical validation – results • Noise reduction
• Input estimation
Low SNR
Measured
High SNR
Reference
Estimate
Reference
Estimate
Motor speed
Load torque 1D vs 3D model mismatch
Measured acceleration
Nonlinearity
Forrier, B., Naets, F., & Desmet, W. (2015). Virtual sensing on mechatronic drivetrains using multiphysical models. ECCOMAS Thematic Conference on Multibody Dynamics. Barcelona, Catalonia, Spain, 29 June - 2 July.
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v, i (a,b,c) ϑ,ω,α
ϑ,ω,α
T
Experimental setup • AC induction machines
o 5,5 kW – FOC o 18 Nm / 3000 rpm o FOC
• Nonlinear driveline
o Cardan o variable deflection angle o easy replacement
• Stiff frame
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Validation of load torque estimation
Model-based state observer
Parameter identification
Validation
RTT
Kalman-based estimation
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Conclusion Use operational information to improve mechatronic drivetrains Obtain information by model-based virtual sensing • Multiphysical 1D torsional model • Combined input/state estimation • Multiphysical measurements
Validation • Numerical – 1D/3D reference
o Dynamic load torque estimation • Experimental – test setup
o Design, construction, instrumentation o Driveline dynamics & frame stiffness o Dynamic load torque estimation
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Thank you Questions?