卡尔曼滤波在电动助力车力矩检测系统中的应用  

Kalman Filtering in Torque Detection System of Electrically Power-assisted Bicycle

作　　者：马艳菊[1] 杨成忠[1] 王廷宇[1] 

机构地区：[1]杭州电子科技大学自动化学院,浙江杭州310018

出　　处：《工业控制计算机》2017年第3期74-75,共2页Industrial Control Computer

摘　　要：在电动助力车研发过程中,通过将电阻式应变片粘贴在曲柄轴最佳位置上以感知人施加在脚踏板上的力矩大小。由于骑行环境中存在随机干扰噪声,导致测量存在较大误差,而卡尔曼滤波可以用来对含噪声数据进行在线实时滤波处理。以自带A/D转换功能的STC12C5A60S2单片机为核心处理器,将采集到的脚踏力信号发送到PC端并进行软件滤波处理。实验结果表明:卡尔曼滤波算法对随机干扰信号能够起到有效的抑制作用,从而提高了系统的测量精度。During the research and development of electrically power-assisted bicycle,this paper,to perceive the size of the torque imposed on the pedal by putting the resistance of the strain gauges paste in the best position on the crank shaft.However,due to the presence of random noise in the riding environment,there is a large error in the measurement,and Kalman filtering can be used to carry out on-line real-time filtering of noise-containing data.This paper takes the STC12C5A60S2 microcontroller with A/D conversion function as the core processor,sends the collected leg-power signal to the PC terminal and carries out software filtering processing.

关 键 词：电动助力车 卡尔曼滤波 电阻式应变片 

分 类 号：U484[交通运输工程—载运工具运用工程] TN713[交通运输工程—道路与铁道工程]