大惯量随动系统双卡尔曼滤波预测制动控制  

Large inertia servo system predictive brake control based on dual Kalman filter

作　　者：汪正军[1] 王军政[1] 赵江波[1] 

机构地区：[1]北京理工大学自动化学院,北京100081

出　　处：《电机与控制学报》2011年第8期75-80,共6页Electric Machines and Control

基　　金：北京市产学研科研基金(1010013020105)

摘　　要：针对大惯量随动系统控制制动时间长、动态性能差的问题,与实际运用背景相结合,提出了对控制量进行预测,实现大惯量随动系统的预测制动控制。首先对随动跟踪对象,空中机动目标进行建模,运用双卡尔曼滤波对空中机动目标运行状态和参数进行估计和预测,根据预测结果,提前控制改进的永磁同步电机制动单元,从而实现预测制动控制。试验结果表明,双卡尔曼滤波预测制动在大惯量随动系统制动控制时,对控制量的估计较为有效,动态性能和随动控制精确度有所提升,达到了预期的控制效果。Large inertia servo systems are usually associated with long brake time and poor dynamic performance.In this paper,a control strategy is proposed based on the prediction of the controller output and the practical application background to achieve predictive brake control.First,the tracking objectives were modeled,and the dual Kalman filter was utilized to estimate and predict the states and parameters of the moving aerial target.Based on these results,the brake module of the permanent magnet synchronous motor（PMSM） was pre-controlled,so that the predictive brake control was achieved.Experimental results show that the dual Kalman filter（DKF） based predictive brake control for large inertia servo system predicts the target states accurately while decreasing the brake time and servo control errors.Therefore the control scheme has achieved the expected performance.

关 键 词：双卡尔曼滤波 大惯量随动系统 预测制动控制 空中机动目标 永磁同步电机 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]