| 柔性机械臂模态估计:多传感器组合策略个例研究 |
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| 引用本文： | 王国利,郭雪梅,张宪民.柔性机械臂模态估计:多传感器组合策略个例研究[J].应用基础与工程科学学报,1999(4). |
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| 作者姓名： | 王国利 郭雪梅 张宪民 |
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| 作者单位： | 汕头大学计算机系!汕头515063(王国利)，汕头大学机电工程系!汕头515063(郭雪梅，张宪民) |
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| 基金项目： | 国家自然科学基金，广东省自然科学基金 |
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| 摘 要： | 柔性机械臂传感器输出变量选择不当会降低模态状态观测器的性能，甚至破坏模态状态重构的可靠性．本文给出了Ｋａｌｍ ａｎ 滤波器重构模态状态的多传感器组合策略个例研究．建立了评估模态状态重构的性能指标，探讨了实现高性能Ｋａｌｍ ａｎ 滤波器的多传感器非劣组合策略的识别方法
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| 关 键 词： | 柔性机械臂 模态估计 Kalman滤波器 多传感器组合 |
Mode Estimation of A Flexible Manipulator: Case Studies on Multi sensor Combination Schemes |
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| WANG Guoli.Mode Estimation of A Flexible Manipulator: Case Studies on Multi sensor Combination Schemes[J].Journal of Basic Science and Engineering,1999(4). |
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| Authors: | WANG Guoli |
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| Abstract: | Inappropriate choice of sensor output variables for a flexible manipulator can lead to the deterioration of performance of a mode estimator, even the reliability of the mode reconstruction. This paper presents the case studies on the multi sensor combination schemes needed for the modal state reconstruction via Kalman filter. The performance indices for evaluating the quality of the mode state reconstruction are established, the recognition of the inferior schemes of multi sensor combinations are explored for achieving the desired performance of Kalman filter design. |
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| Keywords: | flexible manipulators mode estimation Kalman filter multi sensor combination |
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