计算机应用与软件2015，Vol.32Issue(5)：75-79,5.DOI:10.3969/j.issn.1000-386x.2015.05.017
残差补偿粒子滤波在六维力传感器下 E 膜中的应用
APPLYING RCPF TO LOWER E-TYPE MEMBRANE OF SIX-AXIS FORCE SENSOR
摘要
Abstract
In order to reduce the influence of noise signal on the measurement accuracy of six-axis force sensor in dynamic load environment, we propose an improved particle filtering algorithm which has the residuals compensation steps (RCPF).This algorithm takes the lower E-type membrane of dual-E elastic body six-axis force sensor as the research object, and builds the nonlinear system model based on the relation of deflection and strain.According to the degeneration level of weights, it stratifies the sample sets.Learning from residuals compensation idea, the cumulative error of prior distribution is repaired before resampling the particles and the latest observation information is merged into sample sets as well.Finally, based on Thompson-Taylor algorithm, the RCPF produces new particles set by the random combination of the particles with high and low weights through aggregation resampling.We apply the optimised algorithm to the dynamic test system of six-axis force sensor.Results indicate that it effectively enhances the measurement accuracy of six-axis force sensor while maintaining the real-time performance.关键词
双E型弹性体/六维力传感器/下E型膜/粒子滤波/Thompson-Taylor算法/残差补偿Key words
Dual-E elastic body/Six-axis force sensor/Lower E-type membrane/Particle filtering/Thompson-Taylor algorithm/Resid-uals compensation分类
信息技术与安全科学引用本文复制引用
朱文超,许德章..残差补偿粒子滤波在六维力传感器下 E 膜中的应用[J].计算机应用与软件,2015,32(5):75-79,5.基金项目
国家自然科学基金项目( 51175001 ) （ 51175001 ）
安徽省自然科学基金项目(11040606M144). （11040606M144）
