传感器动态非线性建模和补偿的分析-检测技术与自动化装置专业论文.docxVIP

传感器动态非线性建模和补偿的研究 摘要 多维力/力矩传感器的响应，中存在动态非线性问题由采用 Hammerstein 模型描述其动态非线性，并提出基于 Hammerstein 模型的 动态非线性一步辨识方法。辨识后得到 Hammerstein 模型的动态线性 环节和静态非线性环节，确定了系统的动态非线性。在一步辨识的基 础上，进一步提出基于 Hammersteìn 模型的动态非线性两步补偿方法， 包括动态线性补偿和静态非线性校正。通过仿真和对实验数据的处理 证明，一步辨识算法有较高的精度?两步补偿方法改善了传感器动态 响应特性。以 ADSP2189M EZ..KITE Lite 评估极为基础，研制传感器 动态学统性实时校iE系统 p 该系统既可以产生多维动态非线性信号又 能够实现多维动态非线性实时补偿。另外 p 本文还分析了多维力/力矩 传感器的动态标定实验中的若干问题，提出了自己的看法。 传感器 1 Hammerstein 模型;动态非线性 f 和以; .飞 Study on NonJinear dynamic Identification and Compensation of Sensors ABSTRACT There is a nonlinear dynamic problem in the response of multi-dimension force/torque sensors. The Hammerstein model is introduced to describe that problem ，and on this bàsis ，an aIgorithm named one..stage identif?cation is presented. The linear dynamic subsystem and nonlinear statìc subsystem of Hammerstein model are obtained a台er the identification ，thus the nonlinear dynamic system is affirmed. Based on the onestage identification ，a two-step compensation method is put forward，which consists of a linear dynamic compensation subsystem and a nonlinear static correction subsystem. Results of simulation and experimental data processing show that the one-stage identification algorithm has a rather high accuracy and the two-step compensation method improves the dynamic response performance of sensors. And then，on the basis of ADSP2189M EZ-KIT Lite Evaluation Board ，a nonlinear dynamic compensation system is developed for sensors，which not only can produce the nonlinear dynamic responses ，but also can realize the nonlinear dynamic compensation in real time. Other\vise ，some problems of the dynamic calibration of multi-dimension force/torque sensors are studied ，and the author of this . thesis also gives out his own point of view. Key words: mu1ti..dimension force/torque sensor，Hammerste?n model ， nonIinear dynamic，identification ，compensation 独创性声明 本人声明所呈交的学位论文是本人在导师指导下进行的研究工作及取得的研究成果。 据我所知，除了文中特别加以标注和致谢的地方外，论文中不包含其