The purpose of this study is to estimate fluid transients in a pipe using measured pressure values of three points. In this study, method of estimating fluid transients by combining a steady-state Kalman filter and an optimized finite element model of pipeline dynamics is proposed. In this method, fluid transients can be estimated without accurate setting of initial conditions. Moreover, not only the flow rate but also the pressure in a pipe can be estimated by the Kalman filter. In this paper, fluid transients in a pipe were estimated off-line by using experimental values in order to show basic performance of the Kalman filter. In this off-line estimation, estimation results show good agreement with experimental results. Moreover, it was confirmed that the error between the estimation value and the measured value was decreased by the Kalman filter when the initial value was not set accurately. In addition, covariances of sensor noise and system noise, which are parameters of the Kalman filter, were investigated. For comparison, an off-line remote measurement method for unsteady flow and the method of characteristics were applied to the same data. Estimation results of the Kalman filter show good agreement with the result of the method of characteristics and the remote measurement method for unsteady flow.
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