面向喷浆机械臂电液比例控制系统的降噪处理研究  

Research on Noise Reduction for Electro-hydraulic Proportional Control System of Shotcrete Manipulator

作　　者：王树斌 陈菲 周奋波 刘科 赵文渤 张坤[3] 张鹏[3] 崔斌 Wang Shubin;Chen Fei;Zhou Fenbo;Liu Ke;Zhao Wenbo;Zhang Kun;Zhang Peng;Cui Bin(Shenmu Ningtiaota Mining Co.,Ltd.,Shaanxi Coal Group,Yulin 719000,China;CCTEG Shenyang Research Institute Co.,Ltd.,Fushun 113122,China;Shandong Key Laboratory of Robotics and Intelligent Technology,Shandong University of Science and Technology,Qingdao 266590,China)

机构地区：[1]陕煤集团神木柠条塔矿业有限公司,陕西榆林719000 [2]中煤科工集团沈阳研究院有限公司,辽宁抚顺113122 [3]山东科技大学山东省机器人与智能技术重点实验室,山东青岛266590

出　　处：《煤矿机械》2024年第6期60-63,共4页Coal Mine Machinery

摘　　要：考虑到系统辨识数据的预处理能够提高喷浆机械臂电液比例控制系统的建模精度,采用小波变换滤波算法对采集的传感器数据进行滤波降噪处理。应用表明,在以sym5为小波基函数时,信噪比数值最大且均方根误差最小,降噪效果最好。滤波降噪结果能够为电液比例控制系统数学模型的精确辨识奠定基础。Considering that the preprocessing of the system identification data can improve the modeling accuracy of the electro-hydraulic proportional control system of the shotcreting manipulator,the wavelet transform filtering algorithm was used to filter and reduce noise the collected sensor data.The application shows that when sym5 was used as the wavelet basis function,the signal-to-noise ratio is the largest and the root mean square error is the smallest,and the noise reduction effect is the best.The results of filtering and noise reduction can lay a foundation for the accurate identification of the mathematical model of the electro-hydraulic proportional control system.

关 键 词：喷浆机械臂 电液比例控制系统 数据预处理 降噪处理 小波基函数 

分 类 号：TD265[矿业工程—矿井建设]