基于测量机器人变形监测数据的H_∞滤波器设计

Design of H_∞ filter based on deformation data monitored from measure robot

新一代测量机器人以其自动化程度高、测量精度要求高、效率高而著称,由其观测到的数据仍采用白噪声的假设是不准确的。假定系统噪声是能量有限的有色噪声,采用系统理论方法设计H∞优化滤波器,其目标是极小化有色噪声到估计误差增益最大值,因此考虑了噪声在有限能量值范围内达到的最坏情况,滤波后的估计值代表了噪声最坏情况下的波形,其滤波估计是保守的,也是可靠的。

New generation robot for measure was famous as automation degree,measure precision and efficiency.Hypothesis that observation noise is already white is not exact.The noise was assumed as limited energy and coloured.The solution of system theory was adopted and a kind of H∞ optimal filter was designed.Optimal target was minimizing the gain from coloured noise to estimate error.So the worst condition was considered when coloured noise was within bound on limited energy.The filtered estimate value was also a wave as worst noise condition,and is conservative and also credible.