柔性机械臂模态估计:多传感器组合策略个例研究

Mode Estimation of A Flexible Manipulator: Case Studies on Multi sensor Combination Schemes

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

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.