基于改进WOA的鲁棒增广扩展Kalman滤波器设计  

Design of robust augmented extended Kalman filter based on IWOA

作　　者：李科信 梁天添 郑祥 Li Kexin;Liang Tiantian;Zheng Xiang(School of Automation and Electrical Engineering,Dalian Jiaotong University,Dalian 116028,China)

机构地区：[1]大连交通大学自动化与电气工程学院,大连116028

出　　处：《电子测量技术》2022年第21期61-66,共6页Electronic Measurement Technology

基　　金：辽宁省教育厅基金(JDL2020020);常州市应用基础研究计划(CJ2020007)项目资助。

摘　　要：本文针对一类非线性系统,提出基于广义系统的鲁棒增广扩展Kalman滤波器,结合改进鲸群优化算法寻优系统噪声,以精确估计系统状态量以及并发执行器和传感器故障。首先,视故障为系统的状态变量,建立广义系统,将非线性系统的故障估计转化为非线性广义系统的状态估计。其次,提出鲁棒上界以降低线性化误差对估计精度的影响。然后,利用改进鲸群算法寻优系统噪声,以优化鲁棒增广扩展Kalman滤波器。最后,给出F-16飞机的纵向运动数值模型,使用本文方法与自适应无迹Kalman滤波器以及基于鲸群算法的鲁棒增广扩展Kalman滤波器进行对比仿真,仿真结果表明,相较于其他两种算法,本文方法的故障估计均方根误差降低了50%左右,验证了其优越性。In this paper, for a class of nonlinear systems, a robust augmented extended Kalman filter is proposed based on descriptor systems combined with the improve whale optimization algorithm to search the system noise optimal solution, so that the accurate estimation of concurrent actuator and sensor faults for the nonlinear system is implemented. Firstly, the concurrent faults are regarded as the state variable of the nonlinear system, a descriptor systems is established, and the fault estimation of the nonlinear system is transformed into the state estimation of the nonlinear descriptor systems. Then, a robust upper bound is proposed to decrease the influence of linearization error on estimation accuracy. Furthermore, the noise is optimized by the improve whale optimization algorithm to optimize the robust augmented extended Kalman filter. Finally, the longitudinal motion simulation model of F-16 aircraft is given, the algorithm designed in this paper is used to compare with adaptive unscented Kalman filter and robust augmented extended Kalman filter based on whale optimization algorithm. The simulation results show that compared with the other two algorithms, the root mean square error of fault estimation of the algorithm designed in this paper is reduced by about 50%, which verifies its superiority.

关 键 词：改进鲸群优化算法 鲁棒 KALMAN滤波 并发故障 广义系统 

分 类 号：TN713[电子电信—电路与系统]