【摘要】 针对大蒜等大直径农作物果实快速精量包装作业动态称重精度低、稳定性差等问题，提出了一种基于巴特沃思与卡尔曼滤波的皮带机动态称重信号处理方法。设计皮带机动态称重试验装置，利用四阶巴特沃思低通滤波器对模拟信号进行一级低通滤波，试验确定最优截止频率。对转换后的数字信号分别进行二级卡尔曼滤波和三级滑动平均滤波，依据前时刻的估计值与当前时刻的观测值确定当前时刻的估计值。选择蒜头质量和皮带输送速度为试验因素，对滤波效果和动态称重误差进行了试验。结果表明：采用巴特沃思与卡尔曼滤波前后，在皮带输送速度2 m/s下，称重最大平均误差μ降低到0.5 g以下，标准偏差σ降低到0.3 g以下，一定程度抑制了由于皮带机振动等引起高频干扰信号对动态称重的影响。更多还原

【Abstract】 Aiming at the problems of low dynamic weighing accuracy and poor stability in the rapid and precise packaging of fruits of large-diameter crops such as garlic, a dynamic weighing signal processing method of belt conveyor based on Butterworth and Kalman filtering was proposed. The dynamic weighing test device of the belt machine was designed, the fourth-order Butterworth low-pass filter was used to filter the analog signal by one level, and the optimal cut-off frequency was determined by experiment. The converted digital signal was subjected to two-stage Kalman filtering and tertiary sliding average filtering. The current moment estimate was determined according to the estimated value of the previous moment and the observation value of the current moment. The weight of garlic and garlic head and belt conveying speed were selected as the test factors, and the filtering effect and dynamic weighing error were tested. The results show that before and after the Butterworth and Kalman filtering, the maximum average error of weighing μ reduces to less than 0. 5 g and the standard deviation σ reduces to less than 0. 3 g at the belt conveying speed of 2 m/s, which suppress the influence of high-frequency interference signals on dynamic weighing due to belt machine vibration to a certain extent.更多还原