计量学报2024，Vol.45Issue(7)：941-951,11.DOI:10.3969/j.issn.1000-1158.2024.07.03
基于模糊熵加权融合的单轨运输机器人动态倾角辨识研究
Research on Dynamic Inclination Angle Identification of Monorail Transportation Robot Based on Fuzzy Entropy Weighted Fusion
摘要
Abstract
For the problem of low identification accuracy in detecting the dynamic inclination angle of monorail robots,a precise identification method for the dynamic inclination angle of monorail transport robot based on fuzzy entropy weighted fusion is proposed.Firstly,based on the constructed dual model of orbit curvature and inclination angle change,the improved forgetting recursive least squares(IFFRLS)algorithm is used to calculate the dynamic change rate of orbit curvature and inclination angle respectively.Secondly,taking the orbit curvature value and the dynamic change rate of inclination angle as input values,the extended Kalman filter(EKF)and unscented Kalman filter(UKF)algorithms are used to iteratively update and calculate the dynamic angle of inclination angle respectively.Finally,the global fuzzy entropy weighted fusion(GFEWF)is used to deeply fuse the angle values to improve the detection accuracy of dynamic inclination angle.The experiments show that the global fuzzy entropy weighted fusion(GFEWF)algorithm based on double model improves the identified dynamic inclination accuracies in rail segment 1 and rail segment 2 by 10.38%and 25.60%on average,respectively,compared with the single model-based UKF or EKF algorithms.关键词
几何量计量/单轨运输机器人/动态倾角/递归最小二乘算法/无迹卡尔曼滤波/全局模糊熵Key words
geometric measurement/monorail transport robot/dynamic inclination angle/recursive least squares algorithm/unscented Kalman filter/global fuzzy entropy分类
通用工业技术引用本文复制引用
刘泽朝,李敬兆,郑昌陆,王国锋..基于模糊熵加权融合的单轨运输机器人动态倾角辨识研究[J].计量学报,2024,45(7):941-951,11.基金项目
国家重点研发计划(2020YFB1314100) （2020YFB1314100）
国家自然科学基金(52374154) （52374154）
安徽理工大学博士研究生创新基金(2022CX1008) （2022CX1008）
