Використання комплементарного фільтра для ідентифікації параметрів руху елементів сферичного паралельного механізма

The article proposes to use a complementary filter in the SPM control system for processing data from the accelerometer and gyroscope. A complementary filter combines data from an accelerometer that measures linear acceleration, which can be used to determine the angle of inclination in a static position, and a gyroscope, which measures angular velocity, which is used to integrate and determine the angle of rotation. The filter calculates a weighted average of these two measurements, with the weights chosen to minimize the effects of noise and drift from each sensor. An algorithm for calculating the angle of inclination of the SPM platform was developed, where the final value of the angle of inclination is the sum of the integrated value of the gyroscope and the instantaneous value of the accelerometer. At each stage of integration, the integral of the angle of inclination is corrected using the readings of the accelerometer. An experimental verification of the effectiveness of the complementary filter was performed to identify the motion parameters of the elements of the spherical parallel mechanism.