Naderi Akhormeh Alireza, MoradiMaryamnegari Hoomaan, Khoshnood Abdol Majid, Samiee Ahmad
Aerospace Engineering Department, K.N. Toosi University of Technology, Tehran, Iran.
Faculty of Science and Technology, Free University of Bozen-Bolzano, Bolzano, Italy.
ISA Trans. 2021 Mar;109:242-258. doi: 10.1016/j.isatra.2020.10.017. Epub 2020 Oct 6.
In this paper, multiple virtual sensors derived from the equations of motion of a flexible dynamics system, are utilized to form a novel virtual sensing system able to estimate the angular and translation velocities. Measuring only the elastic displacement of the flexible body by a strain gauge, angular velocities are estimated by the first virtual sensor composed of a kinetics equation related to the flexibility, and the nonlinear Kalman and particle filters. Moreover, for translational velocities to be also estimated, specific forces are measured by accelerometers. The second virtual sensor including the equation of translational motion, is added to the virtual sensing system, leading not only the velocities to be estimated with high performance but the accumulated errors of the sensors to be corrected.
在本文中，利用从柔性动力学系统运动方程导出的多个虚拟传感器，形成了一种能够估计角速度和平移速度的新型虚拟传感系统。仅通过应变仪测量柔性体的弹性位移，由与柔性相关的动力学方程以及非线性卡尔曼滤波器和粒子滤波器组成的第一个虚拟传感器来估计角速度。此外，为了也能估计平移速度，通过加速度计测量特定力。将包含平移运动方程的第二个虚拟传感器添加到虚拟传感系统中，不仅能以高性能估计速度，还能校正传感器的累积误差。
