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

Zhu Wenchao; Xu Dezhang

doi:10.13433/j.cnki.1003-8728.2014.0625

Volume 33 Issue 6

Jun. 2014

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Article Navigation > Mechanical Science and Technology for Aerospace Engineering > 2014 > 33(6): 909-912

Zhu Wenchao, Xu Dezhang. research on Kalman Filtering for rectangular Beam of Dual-E Elastic Body Six-Axis Force Sensor[J]. Mechanical Science and Technology for Aerospace Engineering, 2014, 33(6): 909-912. doi: 10.13433/j.cnki.1003-8728.2014.0625

Citation:

Zhu Wenchao, Xu Dezhang. research on Kalman Filtering for rectangular Beam of Dual-E Elastic Body Six-Axis Force Sensor[J]. Mechanical Science and Technology for Aerospace Engineering, 2014, 33(6): 909-912. doi: 10.13433/j.cnki.1003-8728.2014.0625

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

doi: 10.13433/j.cnki.1003-8728.2014.0625

Zhu Wenchao,
Xu Dezhang^,

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

Received Date: 2013-03-01
Publish Date: 2015-06-10

Abstract

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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References(13)

References

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