摘要
为了降低快速反射镜位置传感器的噪声水平同时又尽可能的减小滤波器所带来的不必要的相位滞后,在同样的硬件基础上提升位置信号的测量精度。将卡尔曼滤波方法引入到快速反射镜控制系统中,同时鉴于卡尔曼滤波器对建模精度的要求,对快速反射镜进行扫频结合手动拟合建模,并结合模型设计卡尔曼滤波器。在此基础之上,对卡尔曼滤波器和巴特沃斯滤波器的输出信号以及原始信号进行频谱分析,比较两种滤波方式的滤波效果和频谱覆盖范围。实验结果表明,卡尔曼滤波器的滤波效果为巴特沃斯滤波器的2.55倍,相位滞后量比巴特沃斯滤波器小36.0°,同时频域结果显示卡尔曼滤波器可以对更大频率范围的噪声有效。经过卡尔曼滤波以后,位置传感器测量精度明显提升。
In order to reduce the noise level of FSM’s position sensor while reducing the unnecessary phase lag caused by the filter as much as possible,and improve the measurement accuracy of the position signal on the same hardware,Kalman filtering method was introduced into the FSM control system.It was designed based on the model which was made by the method of frequency sweeping and manual fitting considering the requirements of Kalman filter for modeling accuracy.On this basis,the output signals of the Kalman filter and the Butterworth filter and the original signal are analyzed by spectrum,and the filtering effects and spectral coverage of the two filter are compared.The experimental results show that the effect of Kalman is 2.55 times better than the Butterworth filter,and the phase lag is 36.0 degrees smaller than the Butterworth filter.At the same time,frequency domain results show that the Kalman filter can be effective in a wider frequency range.The accuracy of position sensor measurement was significantly improved after Kalman filtering.
作者
张士涛
王亚波
燕熊
Zhang Shitao;Wang Yabo;Yan Xiong(Research Institute of China State Shipbuilding Corporation Limited,Wuhan 430200 China)
出处
《国外电子测量技术》
2020年第3期134-138,共5页
Foreign Electronic Measurement Technology
关键词
快速反射镜
噪声
卡尔曼滤波
控制
精度
fast steering mirror
noise
kalman filtering
control
accuracy
