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master's thesis
Primjena Kalman filtera za procjenu stanja elektromotora
Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2023. urn:nbn:hr:200:343828
Mostarac, Marija
Josip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
Department of Electromechanical Engineering
Chair of Fundamentals of Electrical Engineering and Measurements

Institutional repository: Faculty of Electrical Engineering, Computer Science and Information Technology Osijek

Cite this document

Mostarac, M. (2023). Primjena Kalman filtera za procjenu stanja elektromotora (Master's thesis). Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek. Retrieved from https://urn.nsk.hr/urn:nbn:hr:200:343828

Mostarac, Marija. "Primjena Kalman filtera za procjenu stanja elektromotora." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2023. https://urn.nsk.hr/urn:nbn:hr:200:343828

Mostarac, Marija. "Primjena Kalman filtera za procjenu stanja elektromotora." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2023. https://urn.nsk.hr/urn:nbn:hr:200:343828

Mostarac, M. (2023). 'Primjena Kalman filtera za procjenu stanja elektromotora', Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, accessed 22 May 2024, https://urn.nsk.hr/urn:nbn:hr:200:343828

Mostarac M. Primjena Kalman filtera za procjenu stanja elektromotora [Master's thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek; 2023 [cited 2024 May 22] Available at: https://urn.nsk.hr/urn:nbn:hr:200:343828

M. Mostarac, "Primjena Kalman filtera za procjenu stanja elektromotora", Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Osijek, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:200:343828

Metadata
TitlePrimjena Kalman filtera za procjenu stanja elektromotora
Title (english)Kalman filter based electric motor state estimation
AuthorMarija Mostarac
MentorMarinko Barukčić (mentor)
MentorTin Benšić (sumentor)
Committee memberMarinko Barukčić (predsjednik povjerenstva)
Committee memberKruno Miličević (član povjerenstva)
Committee memberEmmanuel Karlo Nyarko (član povjerenstva)
GranterJosip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
(Department of Electromechanical Engineering)
(Chair of Fundamentals of Electrical Engineering and Measurements)
Osijek
Defense date and country2023-09-29, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Electromechanical Engineering
Abstract
U ovom diplomskom radu je najprije u sklopu uvoda iznesena motivacija primjene Kalman filtra kao procjenitelja stanja. Kako je u fokusu procjena varijabli asinkronog motora isti je u narednom poglavlju opisan od principa rada, preko teorije dvoosne transformacije do detaljnog izvoda matematičkog modela koji je temelj implementacije vektorske regulacije stroja. Potom je iznesena teorijska analiza Kalman filtra s pripadnim matematičkim konceptom, izvodom jednadžbi za linearni oblik filtra kao i objašnjenjem algoritma provodenja procjene varijabli. U četvrtom poglavlju prikazan je pregled primjene Extended Kalman filtra za nelinearne sustave, objašnjeni su procesi diskretizacije i linearizacije modela kao i algoritam izvedbe EKF-a. Na temelju dinamičke analize rada asinkronog motora koja je obrađena u prethodnim poglavljima prikazan je model vektorski upravljanog asinkronog motora sa paralelno implementiranim EKF-om unutar Matlab Simulink-a. U sklopu analize rezultata detaljno je objašnjen koncept konvergencije i stabilnosti sa uvjetima ostvarenja istih. Prikazan je utjecaj izbora različitih vremena uzorkovanja na vladanje sustava. Nadalje je analiziran i utjecaj različitih solver -a za rješavanje sustava i njihovih numerički pogreški. Promotrena su regulacijska odstupanja svih procijenjenih varijabli i u konačnici je dana usporedba rada simulatora OPAL-RT sa Simulinkom računala.
Abstract (english)
In this master thesis, the motivation for applying the Kalman filter as a state estimator was first presented as part of the introduction. As the focus is on the estimation of the states of the asynchronous motor, it is described in the following chapter from the working principle, through the theory of two-axis transformation to the detailed mathematical model that is the basis of the implementation of the vector control of the machine. Then the theoretical analysis of the Kalman filter was presented with the corresponding mathematical concept, the derivation of the equations for the linear form of the filter, as well as the explanation of the Kalman filtering algorithm. In the fourth chapter, an overview of the application of the Extended Kalman filter for nonlinear systems is presented, the processes of discretization and linearization of the model are explained, as well as the algorithm of EKF. Based on the dynamic analysis of the operation of the asynchronous motor, which was processed in the previous chapters, the model of the vector-controlled asynchronous motor with parallel implementation of EKF within Matlab Simulink is presented. As part of the analysis of the results, the concept of convergence and stability is explained in detail with the conditions for their realization. The influence of the choice of different sampling times on the control of the system is shown. The influence of different solvers and their numerical errors was also analyzed. The residuals of all estimated variables were observed and finally a comparison of the operation of the OPAL-RT simulator with Simulink of the computer was given.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:200:343828
Study programmeTitle: Graduate University Study Programme in Electrical Engineering; specializations in: Communications and Informatics, Power Engineering
Course: Communications and Informatics
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike (magistar/magistra inženjer/inženjerka elektrotehnike)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2023-10-10 09:33:25