基于AKF滤波器的时栅角位移动态误差抑制方法  

Time-grating angular displacement dynamic error suppression method based on AKF filter

作　　者：彭凯[1,2,3] 许小虎 王合文 蒲红吉 于治成[1,2] Peng Kai;Xu Xiaohu;Wang Hewen;Pu Hongji;Yu Zhicheng(Engineering Research Center of Mechanical Testing Technology and Equipment,Ministry of Education,Chongqing University of Technology,Chongqing 400054,China;Genertec Guoce Time Grating Technology Co.,Ltd.,Chongqing 400054,China;Chongqing Academy of Science and Technology,Chongqing 400054,China)

机构地区：[1]重庆理工大学机械检测技术与装备教育部工程研究中心,重庆400054 [2]通用技术集团国测时栅科技有限公司,重庆400054 [3]重庆市科学技术研究院,重庆400054

出　　处：《仪器仪表学报》2023年第4期259-270,共12页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金青年项目(62103069);重庆英才计划(cstc2022ycjh-bgzxm0146);重庆市教委科学技术研究项目(KJZD-K202101104);重庆理工大学研究生教育高质量发展行动计划(gzlcx20222053)项目资助。

摘　　要：动态测量下的谐波误差成分是制约高精度、高分辨率的时栅角位移传感器在动态测量领域运用的主要原因之一。针对动态测量下时栅角位移传感器中的谐波抑制难题,首先简述了时栅角位移传感器的系统模型,其次建立了时栅角位移传感器的动态误差数学模型,之后解释了传感器的动态误差产生机理,阐述了自适应卡尔曼滤波的基本原理,最后构建了基于自适应卡尔曼滤波的时栅角位移传感器的动态误差抑制模型。通过仿真分析证明了时栅角位移传感器在匀速和变速运行情况下,经自适应卡尔曼滤波后,动态误差均降低了约70%,且随着传感器转速的提高,对谐波误差的抑制效果越明显。在实验运用中,该滤波算法对时栅角位移传感器的测量值有很好的实时预测性,传感器能够更快速且稳定运行,在100 r/min的转速下测量误差降低约80%。结果证实了自适应卡尔曼滤波在时栅角位移传感器的动态谐波误差抑制中有着显著的作用,能极大地提高传感器的动态测量精度。The harmonic error component under dynamic measurement is one of the main reasons that restricts the application of high precision and high resolution time-grating angular displacement sensor in the field of dynamic measurement.To address the problem of harmonic suppression in time-grating angular displacement sensor under dynamic measurement,the system model of time-grating angular displacement sensor is firstly briefly described.Secondly,the dynamic error mathematical model of the time-grating angular displacement sensor is formulated.Then,the mechanism of dynamic error of the sensor is explained,and the basic principle of adaptive Kalman filter(AKF)is elaborated the dynamic error suppression model of time-grating angular displacement sensor adapted to Kalman filter.The simulation results show that the dynamic error of the time-grating angular displacement sensor is reduced by about 70%after the adaptive Kalman filter under the condition of constant speed and variable speed,and with the increase of the sensor speed,the more obvious the suppression effect of harmonic error is.In the experimental application,the filtering algorithm has a good real-time prediction of the measured value of the time-grating angular displacement sensor,the sensor can run more quickly and stably,and the measurement error is reduced by about 80%at the speed of 100 r/min.The results show that the adaptive Kalman filter has a significant role in suppressing the dynamic harmonic error of the time-grating angular displacement sensor,and can greatly improve the dynamic measurement accuracy of the sensor.

关 键 词：时栅角位移传感器 自适应卡尔曼滤波 动态误差 谐波抑制 

分 类 号：TH7[机械工程—仪器科学与技术]