加速度计误差补偿在解决动态物体运动控制问题中的应用

2016 2nd International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM) Pub Date : 2016-05-19 DOI:10.1109/ICIEAM.2016.7911713

A. Grecheneva, O. Kuzichkin, N. Dorofeev

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引用次数: 3

摘要

本文分析了在运动控制系统中使用测量加速度计时产生的误差。这是加速度计数据的实验误差曲线图。计算了各种类型错误的百分比。计算了本文所考虑的加速度计的一条线的均方误差。给出了误差补偿的方法和算法。提出了一种关节运动控制的相位测量方法，作为补偿乘性误差和误差条件的方法。给出了一种减小加速度计采样误差和算法误差的专用算法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Compensation of the accelerometer errors in solving the problem of kinematic control of dynamic objects

The article provides the analysis of errors arising at the use of measuring accelerometer in the kinematic control systems. There is a graph of experimental errors of the accelerometer data. Percentage of the various types of errors ahs been calculated. The mean square error of one of the lines of the accelerometers considered in the article has been computed. The description of the methods and algorithms for error compensation is given. The paper proposes to use a phase-measuring method of joint motion control as a method of compensation of multiplicative errors and error conditions. The description of a specialized algorithm that reduces the sampling error and algorithmic error of the accelerometer is offered.

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2016 2nd International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

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