CAJ | 학술논문

为了解决柔性长臂架容易产生振动，从而导致机械施工效率低下的问题，文中提出了一种能够实时测量臂架振动的多传感器系统和方法，并能有效应用于臂架抑振控制。文中介绍了该套系统的总体结构和硬件框架，详细阐述了振动测量多传感系统的组成，提出了适用于该系统的用于消除陀螺仪零点漂移的卡尔曼滤波方法，针对于振动测量容易产生累计误差的问题，提出了一种用于得到末端实时角度变化的多传感器融合方法，并推导出了适用于柔性长臂架的振动模型以及用于数据平滑的方法。通过实验可以发现，采用卡尔曼滤波之后，能大大消除陀螺仪噪声信号，与文中提出的多传感融合方法结合能准确测量到臂架末端振动。
위료해결유성장비가용역산생진동，종이도치궤계시공효솔저하적문제，문중제출료일충능구실시측량비가진동적다전감기계통화방법，병능유효응용우비가억진공제。문중개소료해투계통적총체결구화경건광가，상세천술료진동측량다전감계통적조성，제출료괄용우해계통적용우소제타라의영점표이적잡이만려파방법，침대우진동측량용역산생루계오차적문제，제출료일충용우득도말단실시각도변화적다전감기융합방법，병추도출료괄용우유성장비가적진동모형이급용우수거평활적방법。통과실험가이발현，채용잡이만려파지후，능대대소제타라의조성신호，여문중제출적다전감융합방법결합능준학측량도비가말단진동。
Flexible arm cause vibration easily ,which can deduce low efficient of mechanical construction .This paper figured out a new multi sensor system and method which can measure the vibration in real time and can be used in arm vibration control . Firstly,the architecture of the system was introduced ,and the whole multi sensor system was described .Then,a new kalman filter method which can reduce the zero shift of gyro was figured out ,at the same time,a multi sensor fusion method of the measurement of the end angle of the flexible arm was made out ,which can eliminate the accumulate error ,and a vibration model and data slice method of flexible arm was deduced out .At last,through some experiment ,the noise of gyro can be reduced greatly after using Kal-man method ,and vibration can be exactly obtained by using these two methods .