4.7 Article

An Interpretable Nonlinear Decoupling and Calibration Approach to Wheel Force Transducers

出版社

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TITS.2023.3309822

关键词

Wheel force transducer; cross-coupling; sensor calibration; multi-axis force sensor

向作者/读者索取更多资源

This paper proposes a novel decoupling and calibration method to increase the accuracy of Wheel Force Transducers/Sensors (WFTs). By developing a physical interpretable prime-error framework and utilizing nonlinear error modeling, the conventional decoupling method is improved. Experimental results show that the proposed method achieves good performance in terms of accuracy and computational efficiency.
The multi-dimensional force/torque decoupling and calibration is extremely crucial to increase the accuracy of the Wheel Force Transducer/Sensor (WFT). A novel interpretable nonlinear decoupling and calibration approach to WFT is presented. A physical interpretable prime-error framework is developed such that the linear prime part accounts for most force-voltage responses while the nonlinear error part accounts for the gross error deviation. The conventional least-square decoupling is improved with the delicate nonlinear error modeling using a polynomial base module and a hyperbolic activation function. The developed framework is proved to be mathematically solvable and physically feasible by a two-step calibration scheme. A two-axis WFT is tested and compared with the proposed interpretable nonlinear decoupling model (IND), the least-square-based method (LSM), and the error-based neural network model (eNN). Results demonstrate that the proposed IND provides an accurate, practical, and effective scheme for modeling and calibrating WFTs and maintains a good balance among accuracy, generalization ability, and computational efficiency for real applications.

作者

我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。

评论

主要评分

4.7
评分不足

次要评分

新颖性
-
重要性
-
科学严谨性
-
评价这篇论文

推荐

暂无数据
暂无数据