基于改进型卡尔曼滤波的电机速度数据处理方法  

Processing Method of Motor Speed Data Based on Improved Kalman Filter

作　　者：赵帅 肖金壮[1] 郭一 ZHAO Shuai;XIAO Jin-zhuang;GUO Yi(Hebei University,Baoding 071000,China)

机构地区：[1]河北大学,保定071000

出　　处：《微特电机》2018年第9期80-82,共3页Small & Special Electrical Machines

基　　金：河北省自然科学基金项目(H2016201201);河北大学研究生创新资助项目(X201713)

摘　　要：针对电机转速突变引起的电机速度数据快速变化问题,提出一种基于改进型卡尔曼滤波的电机速度数据处理方法,并抑制测量噪声。该方法通过比较M法与T法测速相对误差,将误差大的方法所测速度与上一时刻速度数据最优估计值进行平均值滤波,所得数据作为改进型卡尔曼滤波算法的估计值;将误差小的方法所测速度数据作为改进型卡尔曼滤波算法的观测值。利用MATLAB对采集的伺服电机速度值进行离线滤波处理。结果表明,与传统卡尔曼滤波算法相比,该方法在处理电机速度数据方面具有较好的动态特性,同时具有良好的噪声抑制效果。Aiming at the rapid change of motor speed data caused by the abrupt change of the motor speed,a method of processing motor speed data based on improved Kalman filter was proposed to apply and suppress measurement noise.By comparing the relative error between M method and T method,the algorithm was used to take the average of the measuring speed data whose method had a larger error and the optimizing estimate of the speed data at the last moment.The obtained data was taken as an estimated value of the improved Kalman filtering algorithm,the measuring speed data whose method had less error was taken as an observed value of the improved Kalman filtering algorithm.The algorithm filtered the speed value of the servo motor by using MATLAB,the results show that compared with traditional Kalman filter,this algorithm has better dynamic characteristics and better filtering effect at processing motor speed data.

关 键 词：改进型卡尔曼滤波 电机测速 M法 T法 

分 类 号：TM383.4[电气工程—电机]