基于扩展卡尔曼滤波的三轴气浮台质心位置测算方法  

Estimate Method for Centroid Position of 3-Axis Air-Bearing Test-Bed Based on Extended Kalman Filter

作　　者：胡奇飞 李稳 HU Qi-fei;LI Wen(Zoomlion Hengtong Machine Co.,Ltd.,Changsha 410073,China)

机构地区：[1]中联恒通机械有限公司,湖南长沙410073

出　　处：《机械工程与自动化》2021年第5期90-93,共4页Mechanical Engineering & Automation

摘　　要：基于三轴气浮台的全物理仿真是航天器仿真的重要手段,为了减小重力带来的干扰力矩,需要精确测量气浮台的质心位置,从而为气浮台调平衡装置提供必要信息。在建立三轴气浮台动力学模型的基础上,仿真了气浮台的运动过程。采用最小二乘法和扩展卡尔曼滤波(EKF)对仿真的气浮台运动姿态信息进行处理,测算出质心的位置。并通过比较气浮台调平衡实验结果发现,基于EKF的质心位置测算方法收敛更快,质心位置测算更精准。The full physical simulation based on the three-axis air-bearing test-bed is an important means of spacecraft simulation.In order to reduce the interference torque caused by gravity,the centroid position of the air-bearing test-bed needs to be accurately measured,so as to provide the necessary information for the air-bearing test-bed adjustment and balance device.Based on the establishment of the dynamic model of the three-axis air-bearing test-bed,this paper simulates the movement process of the air-bearing test-bed.The posture information of the simulated air-bearing test-bed is processed by the least square method and extended Kalman filter(EKF),and the position of the center of mass is calculated.And through the comparison of the results of the air-bearing test-bed adjustment and balance experiment,the EKF-based centroid position calculation method converges faster and the centroid position calculation is more accurate.

关 键 词：气浮台 扩展卡尔曼滤波 质心测算 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]