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Virtual sensor fusion for high precision control

机译：高精度控制的虚拟传感器融合

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摘要

High performance control requires high loop gain and large control bandwidth. However, the spurious resonances at the higher frequencies can limit the performance of such type of systems. This drawback can be overcome by using sensor fusion technique. In sensor fusion, two or more sensors are combined in synergy such that good performance is achieved at lower frequencies while ensuring robustness of the system at higher frequencies. This paper presents a new technique, termed as "virtual sensor fusion", in which only one of the sensors is physically installed on the system while the other sensor is simulated virtually. The virtual sensor is selected based on desired high frequency response. The effectiveness of the proposed technique is demonstrated numerically for a case of active seismic isolation. A robustness analysis of virtual sensor fusion is also carried out in order to study its stability in the presence of spurious resonances. Finally, the technique is experimentally verified on active isolation of pendulum system from ground motion. The results obtained demonstrate good isolation performance at lower frequencies and robustness to plant uncertainties (spurious resonances) at higher frequencies. This technique can be effectively used for high precision control of sensitive instruments.
机译：高性能控制需要高环增益和大控制带宽。然而，较高频率的杂散共振可以限制这种类型的系统的性能。可以使用传感器融合技术来克服该缺点。在传感器融合中，两个或更多个传感器在协同作用中组合，使得在较低频率下实现良好的性能，同时确保系统在较高频率下的鲁棒性。本文提出了一种称为“虚拟传感器融合”的新技术，其中仅在系统上物理安装了一个传感器，而另一个传感器实际上模拟。基于所需的高频响应选择虚拟传感器。该提出的技术的有效性在数值上进行了数字化，以便有积极地震隔离的情况。还进行了虚拟传感器融合的稳健性分析，以便在寄生杂散的存在下研究其稳定性。最后，该技术在实验上验证了从地面运动的主动分离。获得的结果在较低频率和较高频率下施加不确定性（杂散共振）的较低频率和鲁棒性的结果表明了良好的隔离性能。该技术可以有效地用于敏感仪器的高精度控制。

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  • 来源
    《Mechanical systems and signal processing》 |2021年第3期|107241.1-107241.15|共15页
  • 作者

    Mohit Verma; Thomas Dehaeze; Guoying Zhao; Jennifer Watchi; Christophe Collette;

  • 作者单位

    CSIR - Structural Engineering Research Centre Taramani Chennai 600 113 Tamil Nadu India;

    University of Liege Department of Aerospace and Mechanical Engineering Allee de la Decouverte 9 4000 Liege Belgium;

    Universite Libre de Bruxelles Precision Mechatronics Laboratory BEAMS Department 50 F.D. Roosevelt av. 1050 Brussels Belgium;

    Universite Libre de Bruxelles Precision Mechatronics Laboratory BEAMS Department 50 F.D. Roosevelt av. 1050 Brussels Belgium;

    Universite Libre de Bruxelles Precision Mechatronics Laboratory BEAMS Department 50 F.D. Roosevelt av. 1050 Brussels Belgium University of Liege Department of Aerospace and Mechanical Engineering Allee de la Decouverte 9 4000 Liege Belgium;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    Sensor fusion; Precision; Vibration isolation; Active control; Virtual sensor;

    机译：传感器融合;精确;隔振;主动控制;虚拟传感器;

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