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Parameter estimation on a closed loop nutrunner system by added PRBS disturbance signal
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
2014 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Parameterskattning på ett återkopplat skruvdragarsystem med adderad PRBS störsignal (Swedish)
Abstract [en]

This thesis investigated how to perform parameter estimation on an electrical nutrunner operating in closed loop. The purpose for this was to create models that could later be used in design of controllers used in new tightening techniques. The system was divided into two models, one for the electrical motor and one for the driveline, that could be used separately in parameter estimation. Data was collected from both the control system and by an external data acquisition system while the nutrunner was operated in closed loop. A pseudo-random binary sequence signal was added as a disturbance in order to further excite the system such that the internal dynamics of the nutrunner wasforced to show up clearly in the output data.The MATLAB toolbox Simulink Design Optimization was used to perform the parameter estimations and the results were then validated. The validation showed that the sets of estimated parameters were able to simulate the system well, thus supporting the choice ofthe added disturbance signal.

Abstract [sv]

Detta examensarbete undersökte parameterskattning på en elektrisk skruvdragare som reglerades under återkoppling. Syftet med detta var att skapa modeller som senare ska kunna användas vid design av regulatorer för nya åtdragningsstrategier. Systemet delades in i två modeller, en för den elektriska motorn och en för drivlinan, som kunde parameterskattas separat. Data hämtade in dels från kontrollsystemet och med ett externt DAQ system vid körning av verktyget under återkoppling. En PRBS signal adderades till systemet som en störning i syfte att ytterligare excitera så att den interna dynamiken skulle synas i de uppmätta utsignalerna. MATLAB-vertyget Simulink Design Optimization användes för parameterskattningen och resultatet validerades sedan. Valideringen visade att systemet simulerades väl, detta visade på lämpligheten hos den adderade störsignalen.

Place, publisher, year, edition, pages
, MMK 2014:56 MDA 477
National Category
Engineering and Technology
URN: urn:nbn:se:kth:diva-168906OAI: diva2:818740
Available from: 2015-10-13 Created: 2015-06-09 Last updated: 2015-10-13Bibliographically approved

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