摘要
机械爪工作中,由于电源和机械震动会导致电流有波动,将测得的电流数据通过滤波,减少电流的波动,从而让力控的准确度更高。传统的自适应算法无法满足在快速收敛的同时,实现较高鲁棒性和较小稳态误差的要求。针对上述问题,文中提出一种新的自适应滤波算法。首先,建立基于双曲正切函数的变步长模型,实现更新步长因子的动态变值,其次,将滤波器权向量差及可变因子引入更新权值迭代算法中,以达到快速收敛和减少稳态误差的目的。通过实验证明,文中算法实现了快速收敛,并具有较小的稳态误差,提高了系统的鲁棒性。
During the work of mechanical claw,due to the current fluctuations caused by power supply and mechanical vibration,The measured current data is filtered to reduce the fluctuation of the current,so that the accuracy of the force control is higher.Traditional adaptive algorithms cannot meet the requirements of high robustness and small steady-state error while achieving fast convergence.To solve these problems,a new adaptive filtering algorithm is proposed in this paper.Firstly,a variable step size model based on hyperbolic tangent function is established to realize the dynamic variable value of updating step size factor.Secondly,filter weight vector difference and variable factor are introduced into updating weight iteration algorithm to achieve fast convergence and reduce steady-state error.Experiments show that the proposed algorithm achieves fast convergence and small steady-state error,which improves the robustness of the system.
作者
包天悦
王永咏
祁祥瑞
赵佳鑫
蔡存
BAO Tian-yue;WANG Yong-yong;QI Xiang-rui;ZHAO Jia-xin;CAI Cun(Qinhuangdao Campus of Northeast Petroleum University,Qinhuangdao 066000,Hebei Province,China;School of Electrical and Information Engineering,Northeast Petroleum University,Daqing 163000,Heilongjiang Province,China)
出处
《信息技术》
2024年第7期40-45,共6页
Information Technology
基金
全国大学生创新创业项目(202110220019)。
关键词
自适应算法
变步长
双曲正切
可变因子
柔性机械爪
adaptive algorithm
variable step size
hyperbolic tangent
variable factor
flexible mechanical claw
