卡尔曼滤波在陀螺稳定吊舱控制中的应用

The controller based on Kalman filter designed for gyro stabilized pod

摘要:

通过对当前流行的控制方法进行比较,采用变结构控制的原理对系统控制器进行设计.以典型的两轴四框架结构吊舱系统的内俯仰框架为控制对象,设计了一种基于Kalman滤波器的滑模变结构控制方案.当过程噪声和量测噪声较大时,针对不同形式的跟踪信号,对有无滤波器两种控制方案的跟踪效果进行了比较.仿真结果表明,采用基于Kalman滤波器的滑模变结构,系统的跟踪性能较没有Kalman滤波器的跟踪性能有明显的改善,提高了系统跟踪精度.

Abstract:

A high performance controller was designed based on variable structure control(VSC) theory in this paper.The control plant is the typical structure of two axes and four frames,and the controller is sliding mode controller based on Kalman filtering.Comparisons between the controller with filter and the controller without filter were made through tracking different signals when process noise and sensor noise were obvious.The results show that the tracking performance is improved by variable structure control scheme based on Kalman filter,and the accuracy of tracking is enhanced.