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Acceleration estimation method and system based on high-order sliding mode tracking differentiator, equipment and medium

A tracking differentiator, velocity estimation technology, applied in the direction of measurement of acceleration, velocity/acceleration/shock measurement, general control system, etc., can solve the problem of accurate differentiation that does not provide finite time convergence, unable to obtain acceleration value, etc.

Active Publication Date: 2021-12-14
JINAN UNIVERSITY
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  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, the value converged by the differentiator is the value near the acceleration, and the accurate acceleration value cannot be obtained
Golembo et al. proposed a synovial differentiator, but the differentiator filters the output and does not provide accurate differentiation for finite time convergence, so it is impossible to obtain accurate acceleration values

Method used

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  • Acceleration estimation method and system based on high-order sliding mode tracking differentiator, equipment and medium
  • Acceleration estimation method and system based on high-order sliding mode tracking differentiator, equipment and medium
  • Acceleration estimation method and system based on high-order sliding mode tracking differentiator, equipment and medium

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Embodiment 1

[0088] Arie Levant proposed a high-order sliding mode tracking differentiator that can achieve precise robustness of any order. The differentiator is based on the theoretical proof that a signal containing noise has n-order derivatives, and the Lipschitz constant of the n-order derivatives is given When limited by the constant L of , the best differential accuracy of the i (i<=n) order derivative is positively correlated with the magnitude of the maximum measurement noise. The differentiator based on this theory can approach the real value with any order and any precision when obtaining the maximum measurement noise amplitude, that is, the maximum value of the real acceleration. value is very difficult. Therefore, the present invention adopts a compromise method, adopts least square identification to obtain an approximate value of the maximum measurement noise amplitude, and then fine-tunes parameters to achieve high-precision estimation of the differentiator.

[0089] Such a...

Embodiment 2

[0147] Such as figure 2 As shown, this embodiment provides an acceleration estimation system based on a high-order synovial film tracking differentiator, which includes a first parameter identification module 201, a first estimation module 202, a second parameter identification module 203 and a second estimation module 204, of which:

[0148] The first parameter identification module 201 is used to identify the parameters of the speed by using the augmented least squares method to obtain the maximum measurement noise amplitude of the speed estimation;

[0149] The first estimation module 202 is configured to use a first-order sliding film tracking differentiator to accurately estimate the speed of the target according to the maximum measurement noise magnitude of the speed estimate, to obtain an estimated value of the target speed;

[0150] The second parameter identification module 203 is configured to perform parameter identification on the acceleration by using the augmen...

Embodiment 3

[0154] This embodiment provides a computer device, which can be a computer, such as image 3 As shown, it connects processor 302, memory, input system 303, display 304 and network interface 305 through system bus 301, the processor is used to provide calculation and control capabilities, the memory includes non-volatile storage medium 306 and internal memory 307, the non-volatile storage medium 306 stores an operating system, computer programs, and databases, the internal memory 307 provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium, and the processor 302 executes the During computer program, realize the acceleration estimation method of above-mentioned embodiment 1, as follows:

[0155] Using the augmented least squares method to identify the parameters of the speed, the maximum measurement noise amplitude of the speed estimation is obtained;

[0156] Using a first-order synovial film tracking differenti...

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Abstract

The invention discloses an acceleration estimation method and system based on a high-order sliding mode tracking differentiator, equipment and a medium. The method comprises the steps of: carrying out parameter identification on a speed through employing an augmented least square method, and obtaining the maximum measurement noise amplitude of speed estimation; according to the maximum measurement noise amplitude of the speed estimation, accurately estimating the speed of a target by using a first-order sliding mode tracking differentiator to obtain an estimated value of the speed of the target; obtaining the maximum measurement noise amplitude of acceleration estimation according to the estimated value of the target speed; and accurately estimating the acceleration of the target by using a high-order sliding mode tracking differentiator according to the maximum measurement noise amplitude of the acceleration estimation to obtain an estimated value of the acceleration of the target. According to the method, parameter identification is carried out by using the augmented least square method, and the maximum measurement noise amplitudes of the speed estimation and acceleration estimation are respectively obtained; and meanwhile, the high-order sliding mode tracking differentiator is used, and it is guaranteed that the acceleration estimated value can reach the required precision.

Description

technical field [0001] The invention belongs to the technical field of automatic control, in particular to an acceleration estimation method, system, computer equipment and storage medium based on a high-order synovial film tracking differentiator. Background technique [0002] With the development of computer vision, target tracking methods can accurately obtain the trajectory of the target object in the picture set or video. According to the motion trajectory of the target object, we can obtain more motion characteristics, so as to predict the motion trend of the target object at the next moment. Among them, the acquisition of acceleration is particularly important. However, the process of estimating the acceleration from the position information of the object is a third-order differential process, which is very sensitive to noise. After repeated iterations, the accuracy of the differential will drop rapidly. Scholars and engineers have done a lot of research on it in rec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01P15/00G05B13/04
CPCG01P15/003G05B13/042Y02T90/00
Inventor 胡红爽吴永东魏凯敏罗伟其张继连
Owner JINAN UNIVERSITY