摘要
针对振动力输出跟随系统无误差跟随和消除控制系统中经常伴有随机噪声和过程噪声的问题,提出了一种基于卡尔曼滤波器的滑模控制器。设计了滑模面以保证振动力输出的无静差跟踪;采用了指数趋近律提高趋近速度并削弱抖振。针对具有噪声干扰的场合,在控制系统中加入了卡尔曼滤波器消除了传感器测量带来的随机噪声和过程噪声。在Matlab/Simulink平台上,进行了振动正弦输出力跟随控制仿真研究,并且比较了有卡尔曼滤波器和无卡尔曼滤波器的跟踪效果。研究结果表明:基于卡尔曼控制的滑模振动力输出跟随系统具有较强的抗噪性、鲁棒性以及良好的稳态性能。
Aiming at solving the problem of random noise and process noise in the follow-up and elimination control system of vibration-dependent output system the sliding mode controller based on Kalman filter was researched.The sliding surface was designed to ensure the static tracking of the output of the vibration force.The exponential approximation law was used to improve the approach speed and weaken the buffeting.For the case of noise interference,the Kalman filter was added to the control system to eliminate the random noise and process noise caused by the sensor measurement.On the Matlab/Simulink platform,the vibration sine output force following simulation was researched.The results indicate that the sliding mode vibration follower system based on Kalman control has Strong anti-noise,robustness and good steady-state performance compared with Kalman filter and no Kalman filter tracking effect.
作者
罗东云
杨保海
蔡苗苗
张波
LUO Dong-yun;YANG Bao-hai;CAI Miao-miao;ZHANG Bo(College of Electronic Engineering, Jiujiang University, Jiujiang 332005, Chin)
出处
《机电工程》
CAS
2017年第12期1437-1440,共4页
Journal of Mechanical & Electrical Engineering
关键词
滑模控制
卡尔曼滤波
振动跟随控制
sliding mode control
kalman filter
vibration tracking control
