卡尔曼滤波器在装载机线控转向系统中的应用  

Application of Kalman filter in steer-by-wire system for loaders

作　　者：李明[1] 柴光远[1] 

机构地区：[1]西安科技大学机械工程学院,陕西西安710054

出　　处：《矿山机械》2012年第9期46-48,共3页Mining & Processing Equipment

摘　　要：针对装载机线控系统受干扰后稳定性差的问题,用卡尔曼滤波器与普通PID控制相结合的方法在MATLAB环境下对系统进行仿真试验。结果表明,基于卡尔曼滤波器的线控转向系统的控制性能优于常规PID控制的线控转向系统,同时具有良好的动态响应特性。In view of poor stability of steer-by-wire system for loaders after interference, the paper carried out a simulation test in MATLAB environment by combining Kalman filter with ordinary PID control. The results showed that the steer-by-wire system based on Kalman filter was superior to the one based on ordinary PID control in control performance, and had good dynamic response characteristic as well.

关 键 词：线控转向系统 卡尔曼滤波器 MATLAB PID控制 

分 类 号：TH243[机械工程—机械制造及自动化] TN713[电子电信—电路与系统]