基于自适应无迹卡尔曼滤波算法的多股螺旋弹簧动态响应模型参数辨识和分析

doi:10.3969/j.issn.1000-1093.2018.01.003

兵工学报 ›› 2018, Vol. 39 ›› Issue (1): 28-37.doi: 10.3969/j.issn.1000-1093.2018.01.003

基于自适应无迹卡尔曼滤波算法的多股螺旋弹簧动态响应模型参数辨识和分析

丁传俊，张相炎，刘宁

(南京理工大学机械工程学院，江苏南京 210094)

收稿日期:2017-04-06 修回日期:2017-04-06 上线日期:2018-03-13
通讯作者: 张相炎（1957—），男，教授，博士生导师 E-mail:xyzhang@mail.njust.edu.cn
作者简介:丁传俊（1986—），男，博士研究生。E-mail：381667117@qq.com
基金资助:
江苏省自然科学基金项目(BK20140789)

Adaptive Unscented Kalman Filter Algorithm for Identifying and Analyzing the Dynamic Response Model Parameters of StrandedWire Helical Springs

DING Chuan-jun, ZHANG Xiang-yan, LIU Ning

(School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, Jiangsu, China)

Received:2017-04-06 Revised:2017-04-06 Online:2018-03-13

摘要/Abstract

摘要： 针对传统方法在辨识多股螺旋弹簧（以下简称多股簧）非线性响应模型参数时效率较低、精度较差的问题，提出带噪声统计估计器的自适应无迹卡尔曼滤波(AUKF)算法。该算法通过对多股簧试验数据中的量测(过程)噪声进行递推和估计，能够确保非线性模型参数辨识的收敛性；结合多股簧动态试验对该算法进行检验。研究结果表明：即使在量测噪声级别较高的情况下，AUKF算法也可以准确地求出多股簧的动力学模型参数；在预测多股簧动态响应过程中，若预测振幅和参数辨识所用振幅相差太大则会导致较大的预测误差；当加载速度变化时，多股簧动力学模型中的迟滞部分参数基本不变，但0阶非线性刚度系数和非线性放大因子变化较大。

关键词: 多股螺旋弹簧, 参数辨识, 非线性迟滞模型, 自适应无迹卡尔曼滤波算法

Abstract: An adaptive unscented Kalman filter (AUKF) algorithm with noise statistic estimator is developed for the parameters identification of nonlinear response model of stranded wire helical springs. The convergence of parameters identification of nonlinear model could be ensured by recursively estimating measurement noise (or process noise) in the test data of stranded wire helical springs. The effectiveness of AUKF algorithm is verified via dynamic loading experiment. The result demonstrates that the proposed algorithm can accurately determine the model parameters of stranded wire helical springs even with higher levels of measurement noise. In the prediction process of spring response, the predicted amplitude should not be much smaller than the amplitude for parameter identification. When the loading rate is changed, the hysteresis parameters in the dynamic model of stranded wire helical spring are basically unchanged, but the zero-order nonlinear stiffness coefficient and the zero-order nonlinear amplification factor are changed greatly. Key

Key words: strandedwirehelicalspring, parameteridentification, nonlinearhysteresismodel, adaptiveunscentedKalmanfilteralgorithm

中图分类号:

TJ203⁺.6

丁传俊，张相炎，刘宁. 基于自适应无迹卡尔曼滤波算法的多股螺旋弹簧动态响应模型参数辨识和分析[J]. 兵工学报, 2018, 39(1): 28-37.

DING Chuan-jun, ZHANG Xiang-yan, LIU Ning. Adaptive Unscented Kalman Filter Algorithm for Identifying and Analyzing the Dynamic Response Model Parameters of StrandedWire Helical Springs[J]. Acta Armamentarii, 2018, 39(1): 28-37.

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基于自适应无迹卡尔曼滤波算法的多股螺旋弹簧动态响应模型参数辨识和分析

Adaptive Unscented Kalman Filter Algorithm for Identifying and Analyzing the Dynamic Response Model Parameters of StrandedWire Helical Springs

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