Benefits of acceleration measurement in velocity estimation and motion control

被引：78

作者：

Jeon, Soo ^{[1
]}

Tomizuka, Masayoshi ^{[1
]}

机构：

[1] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA

来源：

CONTROL ENGINEERING PRACTICE | 2007年 / 15卷 / 03期

关键词：

velocity; estimation; kinematic model; acceleration;

D O I：

10.1016/j.conengprac.2005.10.004

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The purpose of this work is to investigate the performance of the kinematic Kalman filter (KKF), an accelerometer-assisted velocity estimation method. The most attractive feature of KKF is that it is immune to modeling uncertainties and parameter variations. Conventional velocity estimation methods are analyzed and compared to KKF. It is shown that KKF can perform very well even with low-resolution encoders. A reliable and cost-effective method of measuring angular acceleration is suggested using MEMS accelerometers. Experimental results with low-resolution encoders confirm the superiority of KKF. (c) 2005 Elsevier Ltd. All rights reserved.

引用

页码：325 / 332

页数：8

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