Dynamic performance compensation of six dimensional acceleration sensor based on NDE-FLNN with zero-pole configuration method
Six dimensional acceleration sensor can be widely used for dynamic holographic detection in the field of humanoid robotics,so as to guarantee the flexibility and stability of robot motion.The existing six dimensional acceleration sensor have the problems of slow response speed,narrow response range and other poor dynamic characteristics,which limit the sensor's sharp and wide-range response to the real-time dynamic position information of the measurement carrier.To address this problem,a study on the compensation of the dynamic performance of the six dimensional acceleration sensor in the time-frequency domain is carried out.The dynamic model of the sensor is established using differential equations,a high-precision dynamic model parameter identification algorithm based on NDE-FLNN is proposed,and the dynamic compensation model is further derived to compensate for the response speed of the sensor and to enhance the dynamic performance of the sensor in the time domain.After that,the dynamic compensator of each channel of the sensor is designed based on the zero-polarity configuration method,which eliminates the original poles and introduces new poles to expand the response range of the sensor and improve the dynamic performance of the sensor in the frequency domain.The experimental results show that compared with the DE-FLNN algorithm,the improved NDE-FLNN algorithm is able to identify the dynamic model parameters of the sensor with higher accuracy,and the adjustment time of each component of the sensor compensation is reduced to about half of the original one,which is within 150 ms,and the operating bandwidth is expanded from 22 Hz to 84 Hz,so the dynamic performance of the sensor in the time-frequency domain has been significantly improved.
six dimensional acceleration sensordifference equationNDE-FLNNzero-pole configuration methoddynamic performance compensation
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