| 摘要 |
The observer is in the form of an extended Kalman filter with constant amplifying (K), processing the voltage applied to the attracting coil, in addition to the above mentioned measure values. The armature oscillates under AC against a force of resetting spring(s). At the proximity of the armature to the next current receiving coil, the voltage (U) at the armature attracting coil is controllably reduced with consideration of measured values for actual armature position and current flow (i) at the coil. For this purpose from such measured values, estimated values for the armature motion velocity and its acceleration are determined via a so called observer (1) and a mathematical model. The observer is in the form of an extended Kalman filter with constant amplifying (K), processing the voltage applied to the attracting coil, in addition to the above mentioned measure values.
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