基于卡尔曼滤波的焊缝偏差实时最优估计

Optimal estimation algorithm for real-time welding deviation based on Kalman filtering

建立了基于卡尔曼滤波的焊缝偏差实时最优估计算法.以焊缝中心位置为特征矢量,建立焊缝位置检测的状态方程和测量方程,并依据最小均方差原则建立了卡尔曼滤波最优估计的递推算法.测量噪声协方差由传感器测量误差的统计值得到,假定过程噪声是由于加速度变化引入,通过两点法确定焊缝中心位置的初值.在焊接过程中,应用卡尔曼滤波消除噪声干扰,实现焊缝位置的实时精确预测.计算机仿真和试验结果表明,焊缝偏差信号经过卡尔曼滤波处理后,消除了偶然因素和随机噪声的影响,提高了跟踪精度以及系统工作的稳定性,适合实际工程应用.

The optimal estimation algorithm for real-time welding deviation based on Kalman filtering is presented.The state equation and measurement equation for detecting the weld position is established,and the optimal estimation of the Kalman filtering recursive algorithm also is established according to the principle of minimum mean square error.Measurement noise covariance is obtained from the statistical value of measurement error,and after the process noise is supposed to derive from the changes in acceleration,the initial values of the welding center position are determined by the two-point method.During the welding process,the welding position is accurately predicted while the noise interference is eliminated by Kalman filtering.The computer simulation and experiment results show that the weld deviation signal processed by the Kalman filtering can eliminate the disturbance of causal factors and random noise,improve the tracking precision and the stability of system,and be suitable for the practical engineering applications.