Detection of collisions for a flexible beam subject to random disturbance
Detection of collisions for a flexible beam subject to random disturbance
复制标题
检测受随机扰动的柔性梁的碰撞
DOI：
10.1109/sice.2002.1195467
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
Yuichi Sawada
中科院分区：
文献类型：
--
作者：
Yuichi Sawada
本文提出了一种基于模型的故障诊断方法，用于随机扰动下柔性悬臂梁的碰撞检测。假定柔性悬臂梁的数学模型用欧拉-伯努利型偏微分方程来描述。针对柔性梁的数学模型所对应的有限维模型，在卡尔曼滤波的基础上构建了碰撞检测滤波器。当柔性梁与环境物体发生碰撞时，剩余信号的统计量（创新过程）发生变化。为了检测碰撞引起的残差信号的统计变化，引入了类卡方检验。本文给出了数值和实验结果。
This paper presents an approach to detection of collisions for a flexible cantilever-beam subject to random disturbance by using model-based fault diagnosis method. The mathematical model of the flexible cantilever-beam is assumed to be described by the Euler-Bernoulli type partial differential equation. The collision detection filter is constructed based on the Kalman filter with respect to the finite-dimensional model corresponding to the mathematical model of the flexible beam. If collisions of the flexible beam and with environmental objects occur, the statistics of the residual signal (innovation process) are change. To detect such statistical change of the residual signal due to the collision, the chi-squared like test is introduced. In this paper, numerical and experimental results are presented.