双E型弹性体六维力传感器矩形梁Kalman滤波研究

朱文超; 许德章

doi:10.13433/j.cnki.1003-8728.2014.0625

双E型弹性体六维力传感器矩形梁Kalman滤波研究

doi: 10.13433/j.cnki.1003-8728.2014.0625

朱文超,
许德章^,

1.
安徽工程大学,机械与汽车工程学院芜湖 241000

基金项目:

国家自然科学基金项目(51175001)

安徽省自然科学基金项目(11040606M144)资助

详细信息

作者简介:
朱文超(1989-)，硕士研究生，研究方向为机器人信息感知，zhuwenchao5102951@126.Com

通讯作者:
许德章，教授，博士，be@ahpu.edu.cn

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- 文章访问数: 172
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- PDF下载量: 7
- 被引次数: 0
出版历程
- 收稿日期: 2013-03-01
- 刊出日期: 2015-06-10

research on Kalman Filtering for rectangular Beam of Dual-E Elastic Body Six-Axis Force Sensor

Zhu Wenchao,
Xu Dezhang^,

1.
Mechanical and Automotive Engineering,Anhui Polytechnic University,Wuhu 241000

摘要

摘要: 双E型弹性体六维力传感器采用组合梁结构对空间6个方向的力和力矩信息进行探测,但其输出信号中不可避免地混合了噪声信号,譬如:电阻应变片通过电流后产生的热噪声,放大电路中电磁元件干扰,高温下弹性体蠕变产生的干扰等,严重地影响传感器的测量精度。为了有效地滤除系统量测噪声,提高传感器分辨率,以六维力传感器矩形梁为研究对象,根据正弦激励力响应与应变之间的关系,构建了系统量测方程。基于时间序列分析法,设计了有色系统干扰白化滤波器,建立了有色噪声系统状态空间模型,推导出有色噪声Kalman滤波公式。实例表明:滤波效果明显,稳定性强,减小了实际的滤波误差,有效地提高滤波精度。
- 双E型弹性体,六维力传感器 /
- 矩形梁 /
- 有色噪声 /
- Kalman滤波
Abstract: The measuring principle of the resistance stain gauge sensor is that elastic body is deformed by themeasured force, and then the resistance of strain gauges in principal strain direction is changed. Dual-E elasticbody six-axis force sensor can measure the force and moment information in six directions in the space by using thestructure of composite beam. But there are a large number of noises mixed in the output signal, such as thermalnoise of resistance strain gauges, the noise of electromagnetic device in amplifier circuit and the interference of hightemperature generated by the elastic body creep. The measurement accuracy of the sensor must be affected by thenoise signal. In order to effectively filter out measurement noise and improve sensor resolution, this paper selectsthe sensor' s rectangular beam as the research object. First, the system measurement equation based on therelationship between the response of sinusoidal excitation force and the strain has been established, and then thewhitening filtering of colored system interference based on time series analysis method has been designed, the statespace model of colored noise has been established, and finally the Kalman filtering formulas of colored noise havebeen derived. The simulation results indicate that this algorithm is effective, which has the high filtering accuracy,strong stability and reduces the error of actual filtering.
- colored noise /
- Dual-E elastic body /
- Kalman filters /
- rectangular beam

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参考文献(13)

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