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扩展卡尔曼滤波在夹持器力检测系统中的应用

发表时间:2014-10-31  浏览量:1423  下载量:596
全部作者: 邱静,王牛
作者单位: 重庆大学自动化学院
摘 要: 针对夹持器力检测存在的强干扰问题,提出基于完整力控制系统闭环非线性模型的扩展卡尔曼滤波方法。基于夹持器分段非线性状态空间模型,设计扩展卡尔曼滤波器。在仿真平台和实际系统上,将提出的扩展卡尔曼滤波器(extended Kalman filter, EKF)分别与巴特沃斯低通滤波器、基于数字信号处理器(digital signal processor, DSP)的混合滤波器进行对比。实验验证了所提方法的有效性,对夹持力检测值的估计满足闭环控制要求。
关 键 词: 信息处理技术;扩展卡尔曼滤波;夹持器系统;力检测
Title: Application of extended Kalman filter to gripper force measurement system
Author: QIU Jing, WANG Niu
Organization: School of Automation, Chongqing University
Abstract: Against the problem of strong interference in gripper force measurement, a method of extended Kalman filter (EKF) based on nonlinear model of the whole closed-loop force control system was proposed. The extended Kalman filter was designed based on gripper piecewise nonlinear state-space model. In simulation and actual system experiments, the extended Kalman filter was applied and compared with Butterworth low-pass filter and mixed filter based on digital signal processor (DSP). The results demonstrated that the proposed method was effective, and the estimation of gripper force measurement could meet the requirements of closed-loop control.
Key words: information processing technology; extended Kalman filter; gripper system; force measurement
发表期数: 2014年10月第20期
引用格式: 邱静,王牛. 扩展卡尔曼滤波在夹持器力检测系统中的应用[J]. 中国科技论文在线精品论文,2014,7(20):2068-2074.
 
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