Transactions of Materials and Heat Treatment

Title：Pressure estimation on gripper rotation system for forging manipulator based on Extended Kalman Filter

Authors： Yin Kai1 2 Ding Wenhua1 2 Duan Xiaogang1 2 Deng Hua1 2

Unit： 1.State Key Laboratory of High Performance Complex Manufacturing 2.Central South University

KeyWords： forging manipulators pressure estimation Extend Kalman Filter hydraulic system

ClassificationCode：

year,vol(issue):pagenumber：2016,41(7):62-66

Abstract：

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.

Funds：

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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