摘要
为了分析和模拟伺服刀架可靠性试验台电液伺服加载系统的动态性能,建立了该加载系统的动态特性数学模型,并利用最小二乘算法对其参数进行估计。为了减弱噪声对加载系统稳定性的影响和避免无色卡尔曼滤波算法(UKF)中协方差矩阵出现病态导致算法失效,提出了利用基于奇异分解的无色卡尔曼滤波算法(SVDUKF算法)对电液伺服加载系统反馈力信号进行滤波的方法,并进行了SVDUKF算法与扩展卡尔曼滤波算法(EKF)算法之间滤波性能对比。实验结果表明,最小二乘算法估计出的数学模型具有较高精度,并且SVDUKF算法具有高效的滤波能力和提高系统稳定性的能力。
In order to analyze and simulate the dynamic characteristics of the electro-hydraulic servo loading system of the servo turret reliability test bench, a dynamic characteristics model of the electro- hydraulic servo loading system was established. The parameters of the dynamic model were estimated by the least square algorithm. For avoiding the system from the noise and preventing the Unscented Kalman Filter （UKF） algorithm from the ill-conditioned covariance matrix, a SVDUKF algorithm was proposed to smooth the force feedback signal of the hydraulic servo loading system. The filtering performances of the SVDUKF algorithm and the EKF algorithm were compared by experiments. The results show that the dynamic model with parameters estimated by the least squares algorithm has high precision~ and the filtering performance of the SVDUKF algorithm has high-efficiency, which can improve the stability of the system.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2014年第2期392-397,共6页
Journal of Jilin University:Engineering and Technology Edition
基金
国家科技重大专项项目(2010ZX04014-016)
