基于卡尔曼滤波的光电式扭矩传感器研究

Research on Photoelectric Torque Sensor Based on Kalman Filtering

扭矩传感器在日常生活和科学研究中需求十分广泛,首先分析了扭矩传感器技术的发展现状,并以周云山等申请的专利《光电式扭矩传感器》为基础,提出了本文所讨论的光电式扭矩传感器结构,接着建立了传感器各个部分的数学模型,提出了在不增加光栅线数的情况下,利用转速信息提高扭矩传感器精度的优化方法;此外,还利用卡尔曼滤波技术,将采集到的数据进行滤波处理除去噪声信号;最后,依据所提出的理论,进行了光电式扭矩传感器的阶跃试验,试验结果表明:基于卡尔曼滤波的光电式扭矩传感器能够实现扭矩的高精度测量。相比传统的测扭矩方法,这类扭矩传感器降低了生产成本,提高了测量精度,具有广阔的市场前景。

Torque sensors is widely used in daily life and scientific research. First, we analyzed the development status of the torque sensor technology and proposed the photoelectric type torque sensor structure, which is discussed in this paper, based on the patent Photoelectric Torque Sensor applied by Zhou Yunshan. Then, we established the mathematical model of each part of the sensor and proposed an optimization method to improve the sensor accuracy by using rotational speed information without increasing the number of raster lines. Additionally, Kalman filtering is used in data processing to remove the noise signal. Finally , we carried out the step experiments of photoelectric torque sen- sor according to the theory mentioned before. The experimental results show that the photoelectric torque sensor based on Kalman filtering can achieve high precision measurement of torque. Compared with the traditional method of meas- uring torque, this kind of torque sensor has a broad market prospect for lower cost and higher accuracy