Collision detection for a flexible cantilever-beam subject to random disturbance based on innovation process
Collision detection for a flexible cantilever-beam subject to random disturbance based on innovation process
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基于创新过程的随机扰动柔性悬臂梁碰撞检测
DOI：
10.1109/cca.2002.1038771
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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故障诊断方法的随机扰动柔性悬臂梁碰撞检测算法。用欧拉-伯努利型偏微分方程描述了柔性悬臂梁的数学模型。针对柔性梁的数学模型，在卡尔曼滤波的基础上构建了有限维系统的碰撞检测滤波器。当柔性梁与环境障碍物发生碰撞时，残差信号的统计量（创新过程）发生变化。为了检测由于碰撞引起的残差信号的统计变化，引入了卡方检验。给出了几个数值结果。
In this paper, an algorithm for detection of collisions for a flexible cantilever-beam subject to random disturbance based on a model-based fault diagnosis method is presented. The mathematical model of the flexible cantilever-beam is described by an Euler-Bernoulli type partial differential equation. The collision detection filter is constructed based on the Kalman filter for the finite-dimensional system corresponding to the mathematical model of the flexible beam. If collisions of the flexible beam and environmental obstacles occur, the statistics of the residual signal (innovation process) change. To detect such a statistical change of the residual signal due to the collision, a chi-squared like test is introduced. Several numerical results are presented.