Collision detection of controlled flexible structures with random disturbance
Collision detection of controlled flexible structures with random disturbance
复制标题
随机扰动受控柔性结构的碰撞检测
DOI：
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发表时间：
2003
期刊：
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通讯作者：
Y. Sawada
中科院分区：
文献类型：
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作者：
Y. Sawada
针对具有分布随机扰动的Euler-Bernoulli型偏微分方程控柔性结构，提出了一种基于卡尔曼滤波的碰撞检测方法。应用振型展开法，得到与该数学模型对应的有限维模型。对于由模态表示模型组成的有限维系统，构造了卡尔曼滤波作为状态估计器。利用LQG控制理论设计了结构振动抑制控制器。碰撞检测是通过测试卡尔曼滤波的新息过程中的标量统计量来实现的。
This paper presents a method of collision detection using a Kalman filter for controlled flexible structures modeled by an Euler-Bernoulli type partial differential equation subject to distributed random disturbance. Applying the modal expansion method, the finite-dimensional model corresponding to the mathematical model is obtained. The Kalman filter as a state estimator is constructed for the finite-dimensional system consisting of the modal representation models. The controller for suppressing the vibration of the structure is designed via the LQG control theory. The collision detection is achieved by testing a scalar statistic consisting of the innovation process of the Kalman filter.