Abstract In this paper, a novel two-stage observer strategy for improving the measurement of tool forces is presented. The mass-spring-damper system which inevitably occurs when a tool and a (compliant) force sensor are combined is studied and its adverse influence on the measurement signal is analyzed. The proposed observer consists of two stages. The first stage captures the input-output characteristics from the control input to the tool force by a recursive least-squares estimation algorithm. The estimated tool characteristics are used in a second stage to suppress the oscillations in the measurement signal, which mainly occur due to the mass-spring-damper nature of the tool-sensor combination. In a tailored experimental test rig, which mimics the conditions in magnetic levitation, magnetic bearings, or magnetic strip positioning devices in hot-dip galvanizing lines, the efficacy and the high estimation accuracy of the developed observer strategy are demonstrated.

中文翻译：

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用于补偿工具力传感器中致动器引起的干扰的两级观测器

摘要 在本文中，提出了一种改进工具力测量的新型两阶段观测器策略。研究了工具和（柔性）力传感器组合时不可避免地出现的质量-弹簧-阻尼系统，并分析了其对测量信号的不利影响。提议的观察者包括两个阶段。第一阶段通过递归最小二乘估计算法捕获从控制输入到工具力的输入-输出特性。在第二阶段使用估计的工具特性来抑制测量信号中的振荡，这主要是由于工具-传感器组合的质量-弹簧-阻尼器性质而发生的。在量身定制的实验测试台中，模拟磁悬浮、磁轴承、