Kalman filter based state estimation for the flexible multibody system described by ANCF

Abstract

The state estimation of the flexible multibody systems is a vital issue since it is the base of effective control and condition monitoring. The research on the state estimation method of flexible multibody system with large deformation and large rotation remains rare. In this investigation, a state estimator based on multiple nonlinear Kalman filtering algorithms was designed for the flexible multibody systems containing large flexibility components that were discretized by absolute nodal coordinate formulation (ANCF). The state variable vector was constructed based on the independent coordinates which are identified through the constraint Jacobian. Three types of Kalman filters were used to compare their performance in the state estimation for ANCF. Three cases including flexible planar rotating beam, flexible four-bar mechanism, and flexible rotating shaft were employed to verify the proposed state estimator. According to the different performances of the three types of Kalman filter, suggestions were given for the construction of the state estimator for the flexible multibody system.