| 基于最优融合估计的PID控制器应用研究 |
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| 引用本文： | 崔崇信,任思璟,王安华,徐益民,董金波. 基于最优融合估计的PID控制器应用研究[J]. 工业仪表与自动化装置, 2012, 0(3): 31-33,110 |
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| 作者姓名： | 崔崇信 任思璟 王安华 徐益民 董金波 |
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| 作者单位： | 黑龙江科技学院电气与信息工程学院,哈尔滨,150027 |
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| 摘 要： | 在线性最小方差最优融合估计准则下,基于Riccati方程,对于带控制输入的单通道CAR-MA信号,提出了全局最优多传感器加权观测融合Kalman滤波器.应用于PID控制器的设计中,可以提高滤波精度,减小稳态误差.通过对微泳动机器人速度控制系统的仿真实验,说明了其有效性.
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| 关 键 词： | 多传感器 最优融合估计 Kalman滤波方法 泳动机器人 PID控制器 |
Application research of a PID controller based on optimal fused estimation |
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| CUI Chongxin , REN Sijing , WANG Anhua , XU Yimin , DONG Jinbo. Application research of a PID controller based on optimal fused estimation[J]. Industrial Instrumentation & Automation, 2012, 0(3): 31-33,110 |
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| Authors: | CUI Chongxin REN Sijing WANG Anhua XU Yimin DONG Jinbo |
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| Affiliation: | (Department of Electrical and Information Engineering,College of Heilongjiang Science and Techniques,Harbin 150027,China) |
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| Abstract: | Under the linear minimum variance optimal fused estimation criterion,based on the Riccati equation,a globally optimal multi-sensor weighted measurement fusion Kalman filter is presented for single channel CARMA signals with control input.Applied to the design of PID controller,it can improve the filter precision and reduce the steady-state error.A simulation experiment with speed control system of micro swimming robot shows its effectiveness. |
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| Keywords: | multi-sensor optimal fused estimation Kalman filtering method swimming robot PID controller |
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