| 卡尔曼滤波器的20-sim软件实现 |
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| 引用本文： | 摆玉龙,杨志民.卡尔曼滤波器的20-sim软件实现[J].计算机工程与设计,2007,28(5):1122-1125. |
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| 作者姓名： | 摆玉龙 杨志民 |
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| 作者单位： | 西北师范大学物理与电子工程学院 甘肃兰州730070 |
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| 摘 要： | 简要地介绍了线性二次型高斯(linear quardratic gauss,LQG)控制的基本原理,即利用卡尔曼滤波器估计未知状态变量,实现多变量系统的最优状态反馈控制.基于荷兰Twente大学控制工程系研发的机电一体化设计软件20-sim,编制了卡尔曼滤波器和最优状态反馈模块.在实例模型中,首先利用20-sim建立了控制系统图标化模型.在此基础上,应用了最优状态反馈控制和卡尔曼滤波器模块,构成了完整的LOG控制系统.仿真结果理想的显示了控制效果.由此可见,基于20-sim建模与仿真方法直观简便,为控制系统的建模与仿真提供了新的思路.
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| 关 键 词： | 卡尔曼滤波器 LQG控制 建模 仿真 20-sim软件 卡尔曼滤波器 软件实现 software based Kalman filter 建模与仿真 仿真方法 控制效果 显示 仿真结果 构成 滤波器模块 应用 实例模型 图标化 控制系统 最优状态反馈控制 设计软件 机电一体化 控制工程 |
| 文章编号： | 1000-7024（2007）05-1122-04 |
| 修稿时间： | 2006-06-05 |
Realization of Kalman filter based on 20-sim software |
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| BAI Yu-long,YANG Zhi-min.Realization of Kalman filter based on 20-sim software[J].Computer Engineering and Design,2007,28(5):1122-1125. |
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| Authors: | BAI Yu-long YANG Zhi-min |
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| Affiliation: | College of Physics and Electrical Engineering, Northwest Normal University, Lanzhou 730070, China |
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| Abstract: | The main principals of linear quadratic gauss(LQG) control are briefly introduced,which means optimal state feedback control is constructed for multivariable system by using Kalman filter to estimate unknown state variable.Based on the modeling and simulation software 20-sim developed by control engineering group in university of twente(the netherlands),the modules for Kalman filter and optimal state feedback are developed here.Firstly,a new mechatronic model is formed in the environment of 20-sim.Moreover,the optimal state-feedback control modules and Kalman filter are added in the model,then the whole LQG control system is constructed directly.The simulation results follow the theory result perfectly.So,the final results show the high efficiency of this method and it provides a new way in the field of control system design. |
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| Keywords: | Kalman filter LQG control modeling simulation 20-sim software |
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