基于时延估计的扰动卡尔曼滤波器外力估计  

External Force Estimation of Perturbed Kalman Filter Based on Time Delay Estimation

作　　者：吕涛 杨芳艳 李清都 侯运锋 陈程[2] LYU Tao;YANG Fangyan;LI Qingdu;HOU Yunfeng;CHEN Cheng(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China;Institute of Machine Intelligence,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学机械工程学院,上海200093 [2]上海理工大学机器智能研究院,上海200093

出　　处：《信息与控制》2022年第2期157-167,共11页Information and Control

基　　金：国家自然科学基金(61773083);上海市浦江人才计划(2019PJD035);上海市人工智能创新发展专项(2019-RGZN-01041)。

摘　　要：针对机械臂末端力估计存在模型误差及系统扰动等问题,提出了一种基于时延估计的扰动卡尔曼滤波器外力估计法。在不使用额外力传感器的情况下,通过电机驱动电流的测量,采用时间延时估计法设计出不需要精确动力学模型的估计器。将外力作为状态变量,对系统的不确定性和扰动进行观测,考虑机械臂动力学和扰动动力学,设计出扰动卡尔曼滤波器来估计末端所受外力。使用Matlab仿真软件验证了该方法的有效性,结果表明所提估计方法对具有测量噪声、模型误差及不确定性扰动的系统具有很好的鲁棒性。A disturbance Kalman filter external force estimation method based on time delay estimation is proposed to address the problems of model error and system disturbance in the end force estimation of the manipulator.In the case of no extra force sensor,the time delay estimation method is used to design an estimator that does not require an accurate dynamic model through the measurement of the drive motor current.The external force is then taken as the state variable to observe the uncertainty and disturbance of the system.A disturbance Kalman filter is designed considering the dynamics of the manipulator and the disturbance dynamics to estimate the external force on the end of the manipulator.The effectiveness of this method is verified by Matlab simulation software.Results show that the proposed estimation method has good robustness for the system with measurement noise,model error,and uncertainty disturbance.

关 键 词：机械臂 外力估计 时间延迟估计 扰动卡尔曼滤波 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]