To be able to monitor forces acting on objects is important for a lot of dierent applications. In this case the object is a big steel disc and the forces to be monitored are those acting on the rim of the disc. This is done with strain gauges that register changes in the internal strain eld. This is then run through a system model that outputs the equivalent force for that strain eld. The system model is created through a static system identication consisting of a series of test pushes on the rim of the disc. This method of system identication has a series of problem mainly that it is time consuming. The thesis presents a proof-of-concept of a dynamic system identication method. Instead of pressure applied while stationary the pressure is applied by rotating the disc against another smaller steel disc and performing the system identication on this continuous data. An algorithm to use the data is tested in simulation and the results are analyzed and proven successful. Then a experiment is performed, recording data and running the algorithm. The dynamic system identication is shown to give almost equal results to the static one. The dierence can be accounted for as problems with the force measuring or that the dynamic system identication is actually more accurate than the static one. The algorithm is concluded to work and give an advantage over the old algorithm in form of the time it takes to perform it. It has a possibility to be more accurate and also to be able to identify forces in more directions than straight into the disc.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:kth-105153 |
| Date | January 2010 |
| Creators | Wester, Stefan |
| Publisher | KTH, Reglerteknik |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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