基于DSP混合滤波夹持器力检测

摘要

针对夹持器系统存在的力检测问题,提出了一种基于DSP的混合滤波力信号检测处理方法；以多片半导体应变片作为敏感元件构成检测电桥,采用3阶有源切比雪夫硬件滤波,通过DSP进行采样检测,构成硬件信号采样处理电路,并在软件上采用限幅消抖滤波和低通巴特沃斯滤相结合的方法,对系统进行混合滤波处理;将所提出方法应用于实际系统,实验结果证实了该方法可以大大地提高夹持器力检测系统的抗干扰能力,验证了方法的有效性.%Against the problem of force detection of gripper system, a method of detection and processing of signal by mixed filtering based on DSP is proposed. The signal processing and sampling circuit cosisit of a bridge constituted with semiconductor strain gauges as the sensor, a 3 - order Chebyshev active hardware filter and the DSP chip which is used to sample the singal. In addition, mixing the limiting debounce filter and Butterworth low - pass filter on the software is used to process the sampling data. The proposed method is applied to the actual system , the results confirmed that the method can greatly improve the anti -jamming capability of the force detection of gripper system, the effectiveness of this method is verified.