锻压技术

基于扩展卡尔曼滤波的锻造操作机夹钳旋转系统的负载压力估计

英文标题：Pressure estimation on gripper rotation system for forging manipulator based on Extended Kalman Filter

作者：尹凯1 2 丁文华1 2 段小刚1 2 邓华1 2

分类号：

出版年,卷(期):页码：2016,41(7):62-66

摘要：

针对液压系统状态测量成本过高以及某些状态无法测量的问题，采用扩展卡尔曼滤波器对锻造操作机夹钳旋转液压系统的马达负载压力进行估计。首先，建立液压系统的三阶非线性状态空间模型，介绍扩展卡尔曼滤波器算法流程。然后，以系统输入电压和液压马达速度作为算法输入，通过卡尔曼滤波器估计液压驱动器负载压力状态。Matlab 仿真结果显示压力估计误差为0.22%，表明该方法可以精确估计马达负载压力。最后，以1 t锻造操作机夹钳旋转液压驱动系统进行负载压力估计实验,实验在位置控制和速度跟踪两种情况下进行。结果表明，该方法不仅可以准确估计系统负载压力，还能对实际测量有一定的滤波作用。

For the high-cost and immeasurability of hydraulic system, the load pressure of hydraulic motor was estimated by Extended Kalman Filter (EKF). Firstly, the third order nonlinear space model of hydraulic system was established, and the EKF algorithm process was introduced. Then, the load pressure states of hydraulic actuator were estimated by EKF taking the control voltage and motor velocity as input coefficients. Furthermore, the pressure estimation error of simulation result is 0.22% by Matlab，and it shows that the method can accurately estimate the load pressure. Finally, the experiments of pressure estimation are conducted under the position control and velocity tracking for the clamp rotation hydraulic system of a ton of forging manipulator. The results indicate that the EKF can not only accurately estimate the load pressure, but also has a certain filtering function of actual measurement.

基金项目：

国家973计划课题（2006CB705404）; 高性能复杂制造国家重点实验室自主探索项目 (zzyjkt2013-22B)

尹凯（1991-），男，硕士研究生

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