摘要
针对磁电编码器角度值易受到高频噪声影响,影响角度值输出精度问题,提出了一种基于卡尔曼滤波器及运动状态方程角度值误差主动监督补偿方法。为了降低角度值观测噪声,采用基于运动学状态方程角度值观测方法,有效抑制了磁电编码器角度值观测噪声;提出了基于神经元角度值误差自适应补偿方法,实现了角度值误差观测的自适应收敛过程。针对角度值误差收敛速度缓慢问题,采用基于卡尔曼滤波器角度值误差主动监督补偿方法,调节误差补偿系数进而提高角度值观测误差的收敛速度,经过实验证明所提方法的有效性,在角度值过零点位置的大角度跳变工作位置,采用跟踪性能较好的状态误差调节系数保证了角度值跟踪的一致性。在角度值平滑跟踪状态下,采用所提方法角度值精度从±3°提高到了±0.082°。
Aiming at the problem that the angle value of the magneto-electric encoder is easily affected by high-frequency noise and affects the output accuracy of the angle value, based on the Kalman filter and the motion state equation, a method is propised for actively monitoring and compensating the angle value error. In order to reduce the observation noise of the angle value, the angle value observation method based on the kinematic state equation is used to effectively suppress the observation noise of the angle value of the Magneto-electric encoder, and the adaptive compensation method based on the neuron angle value error is proposed to realize the angle value error observation Adaptive convergence process. Aiming at the problem of slow convergence of angle value error, an active monitoring compensation method based on angle value error of Kalman filter is used to adjust the error compensation coefficient to improve the convergence rate of angle value observation error. Experiments prove the effectiveness of the proposed method. The large-angle jump working position at the zero-crossing position adopts the state error adjustment coefficient with better tracking performance to ensure the consistency of the angle value tracking. In the state of smooth tracking of the angle value, the accuracy of the angle value is improved from ±3° to ±0.082° using the method of this paper.
作者
王磊
吴殿昊
李玉强
张永德
潘巍
Wang Lei;Wu Dianhao;Li Yuqiang;Zhang Yongde;Pan Wei(Key Laboratory of Advanced Manufacturing and Intelligent Technology,Ministry of Education,Harbin University of Science and Technology,Harbin 150080,China;Robotics&its Engineering Research Center,Harbin University of Science and Technology,Harbin 150080,China;Shanghai Aerospace Intelligent Equipment Co.,Ltd.,Shanghai 201112,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2020年第6期94-105,共12页
Chinese Journal of Scientific Instrument
基金
中国博士后基金(2016M600256)
黑龙江省博士后基金(LBH-Z16092)
哈尔滨市科技创新人才研究专项基金(2017RAQXJ076)
黑龙江省普通本科高等学校青年创新人才培养计划(UNPYSCT-2018211)项目资助
关键词
磁电编码器
卡尔曼滤波器
运动学状态方程
自适应主动监督
角度误差补偿
magneto-electric encoder
Kalman filter
kinematic equation of state
adaptive active supervision
angle error compensation
作者简介
通信作者:王磊,2009年于哈尔滨商业大学获得学士学位,2011年和2015年于哈尔滨工业大学分别获得硕士学位和博士学位,现为哈尔滨理工大学讲师,主要研究方向为控制理论及其在电机系统的应用、高精度磁电编码器。E-mail:leiwang007@126.com;吴殿昊,2019年于哈尔滨理工大学获得学士学位,现为哈尔滨理工大学硕士研究生,主要研究方向为控制理论及其在电机系统的应用、高精度磁电编码器。E-mail:wdh928@163.com
