【作者】 祁虔； 李祖枢； 谭智； 但远宏； 萧凌；

【Author】 Qi qian~(1,2),Zu-shu Li~1,Tan zhi~1,Dan Yuan-hong~1,Xiao ling~1 (1.Automation departmet,Chongqing University,Chongqing 400030,China 2.College of Computer and Information Science,Southwest University,Chongqing 400715,China)

【机构】 重庆大学自动化学院； 西南大学计算机与信息科学学院；

【摘要】 在二级倒立摆稳摆控制中,摆杆的角度编码器信号受到测量噪声污染,并在使用差分方法获取摆杆角速度的过程中,测量噪音被进一步放大。当控制器将受到噪音污染的角度和角速度信号作为决策依据计算控制量时,混入的噪音将导致控制量产生较大的随机波动。同时,电动机作为执行器,因自身结构和环境因素,在执行控制指令的过程中也混入了较大的过程噪音。这两种噪音将使系统出现较强抖动,既不利于摆杆的稳定,也缩短了电机的使用寿命。本文即针对二级倒立摆稳摆实时控制中的噪声污染问题,将稳态卡尔曼滤波器与渐消记忆法结合起来,找到了确定稳态卡尔曼滤波器增益矩阵的有效方法,使得稳态卡尔曼滤波器既能克服模型误差,又满足系统控制的实时性要求,并在实时控制实验中减小了电机抖动,降低了噪音的影响,取得了令人满意的效果。更多还原

【Abstract】 In the stabilization of inverted pendulum,the signal from angular coder is polluted by the measurement noise,which is amplified during calculating the angular velocity through the difference approximation.When the noise signal enters into the controller,the control variable will oscillate randomly.Besides,the motor,as the actuator, is polluted by the plant noise when carrying on the control order.This leads to the strong system oscillation,which not only is bad for pendulum stabilization,but also reduces the motor’ s service life.The paper aims at the noise pollution in stabilization control, combining the steady-state Kalman filter with the disappearing memory method,finding out the effective way to determine the Kalman filter gain matrix.this eliminates the model error and satisfies the real time requirement in control,decreasing the motor’ s oscillation and get the better system performance.更多还原