基于卡尔曼滤波的双闭环直流电机系统状态观测器  

State Observer of Double Closed Loop Direct Current Motor System Based on Kalman Filter

作　　者：潘娅[1] 王姮[1] 王牛[2] 李永龙[2] 

机构地区：[1]西南科技大学计算机科学与技术学院,四川绵阳621002 [2]重庆大学智能自动化研究所,重庆400044

出　　处：《信息与控制》2009年第1期15-23,共9页Information and Control

基　　金：国家自然科学基金资助项目(60274022,60574076);四川省教育厅重点科研项目(218-06ZHD001).

摘　　要：在直流电机双闭环调速系统(DFDCMS)简化模型的基础上,分析了饱和非线性DFDCMS的能控性和能观性,提出了饱和非线性DFDCMS的关键状态描述.针对这些关键状态,基于饱和非线性DFDCMS的分段线性模型和卡尔曼滤波(KF),提出并实现了DFDCMS的KF状态观测器.在仿真平台和实际系统上比较了无滤波器(NF)的状态观测器、带巴特沃斯滤波器(BF)的状态观测器、KF状态观测器在不同情况下对运动执行机构状态辨识的效果.实验表明,所提基于饱和非线性DFDCMS模型的卡尔曼滤波状态观测器能更为有效地反映测试系统的运行状态.Based on the simplified model of double-fed direct current motor system （DFDCMS）, the controllability and observability of saturated nonlinear DFDCMS are analyzed, and the key states of saturated nonlinear DFDCMS are presented. Based on the subsection-linear model of the saturation nonlinear DFDCMS and Kalman filter （KF）, the Kalman filter state observer is presented and designed to get these key states. On the simulation platform and the real system, the motion-actorstates observation results of three state observers, i.e＇., the direct state observer with no filter.（NF）, the state observer with Butterworth filter （BF） and the state observer with KF, are compared in some different situations. The experimental results indicate that the KF state observer based on the model of saturated nonlinear DFDCMS can reflect running states of the testing system more effectively.

关 键 词：直流电机系统模型 卡尔曼滤波 状态观测器 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] TM921.5[自动化与计算机技术—控制科学与工程]