中文摘要：

双E型弹性体六维力传感器采用组合梁结构对空间6个方向的力和力矩信息进行探测,但其输出信号中不可避免地混合了噪声信号,譬如：电阻应变片通过电流后产生的热噪声,放大电路中电磁元件干扰,高温下弹性体蠕变产生的干扰等,严重地影响传感器的测量精度。为了有效地滤除系统量测噪声,提高传感器分辨率,以六维力传感器矩形梁为研究对象,根据正弦激励力响应与应变之间的关系,构建了系统量测方程。基于时间序列分析法,设计了有色系统干扰白化滤波器,建立了有色噪声系统状态空间模型,推导出有色噪声Kalman滤波公式。实例表明：滤波效果明显,稳定性强,减小了实际的滤波误差,有效地提高滤波精度。

英文摘要：

The measuring principle of the resistance stain gauge sensor is that elastic body is deformed by the measured force,and then the resistance of strain gauges in principal strain direction is changed. Dual-E elastic body six-axis force sensor can measure the force and moment information in six directions in the space by using the structure of composite beam. But there are a large number of noises mixed in the output signal,such as thermal noise of resistance strain gauges,the noise of electromagnetic device in amplifier circuit and the interference of high temperature generated by the elastic body creep. The measurement accuracy of the sensor must be affected by the noise signal. In order to effectively filter out measurement noise and improve sensor resolution,this paper selects the sensor＇ s rectangular beam as the research object. First,the system measurement equation based on the relationship between the response of sinusoidal excitation force and the strain has been established,and then the whitening filtering of colored system interference based on time series analysis method has been designed,the state space model of colored noise has been established,and finally the Kalman filtering formulas of colored noise have been derived. The simulation results indicate that this algorithm is effective,which has the high filtering accuracy,strong stability and reduces the error of actual filtering.