间隙三明治系统的改进卡尔曼状态估计  

Modified Kalman filter-based state estimation for sandwich systems with backlash

作　　者：李琰琰[1] 谭永红[2] 董瑞丽[2] 李海芬[1] 

机构地区：[1]南开大学机器人与信息自动化研究所,天津市智能机器人技术重点实验室,天津300071 [2]上海师范大学精密机电系统与控制工程研究室,上海201418

出　　处：《控制理论与应用》2016年第3期280-288,共9页Control Theory & Applications

基　　金：上海市科委项目(14ZR1430300,14140711200);国家自然科学基金项目(61571302,61203108,61371145,61171088)资助~~

摘　　要：控制工程中许多实际系统都可以描述为带间隙的三明治系统,由于间隙具有非光滑、局部记忆性和多值映射等复杂非线性特性,使得整个三明治系统的内部状态估计工作具有很大挑战性.首先根据间隙三明治系统的特性引入了几个自动切换函数,采用关键项分离原理,建立了随机噪声干扰下间隙三明治系统的非光滑整体伪线性状态空间模型.针对该系统提出了一种非光滑的改进卡尔曼滤波算法以估计系统状态,其工作机制能够随系统当前工作区间的转变而自动切换模式.仿真和实验结果表明,针对含噪声的间隙三明治系统,非光滑的改进卡尔曼滤波算法对系统状态的估计准确度要高于传统卡尔曼滤波算法.Many practical systems in control engineering can be described as the so-called sandwich systems with backlash.As the embedded backlash is a complicated non-smooth nonlinear function with local memory and multi-valued mapping,the estimation of internal states for the whole sandwich systems becomes a challenge.Based on the separation principle for key terms,a non-smooth pseudo-linear state space model for the whole sandwich systems with backlash disturbed by random noises is built by introducing several embedded switch functions to handle the effect of backlash.Then,a non-smooth modified Kalman filtering（MKF） method is proposed to achieve the state estimation for the obtained non-smooth state space model.The operating mechanism of this filtering method makes the mode automatically switchable according to the transformation of operation zone of the system.Simulation and experimental results demonstrate that the proposed non-smooth MKF method achieves higher estimation accuracy for such sandwich systems with backlash affected by random noises than the conventional KF method.

关 键 词：间隙 三明治系统 改进卡尔曼滤波 非线性系统 状态估计 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]