一种基于卡尔曼滤波算法的智能型自动扶梯安全性参数测试仪

An Escalator Security Performance Instruction Based on the Kalman Filter Algorithm

摘要: 针对自动扶梯或自动人行道自动扶梯安全性参数检测的快速、准确需要，采用增量式光电编码器为传感检测单元，以STM32处理器为最小系统，基于卡尔曼滤波算法，本文设计了一种智能型自动扶梯安全性参数测试仪，以此对自动扶梯制停距离、扶手带和梯级速度及其同步率和加速度等安全性能参数进行实时测量。测试结果表明，测试仪的自动扶梯速度估计和加速度估计相对误差未超出10％的行业规范性要求。

Abstract: To detect escalator safety parameters fast and accurately, an intelligent automatic escalator safety parameter test instrument is designed. The instrument is using the incremental photoelectric encoder as the sensor and the STM32 processor as the minimum system in order to measure braking distance, handrails, cascade speed, the synchronization rate and acceleration parameters. The test results show that, the relative error between escalator speed estimation and acceleration estimation does not exceed the industry standard which is 10%.