| 卡尔曼滤波器在倒立摆控制系统中的应用 |
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| 引用本文： | 李国欣,徐艳丽,蒋永洲.卡尔曼滤波器在倒立摆控制系统中的应用[J].长春大学学报,2009,19(6):12-14,34. |
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| 作者姓名： | 李国欣 徐艳丽 蒋永洲 |
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| 作者单位： | 长春大学电子信息工程学院;空军航空大学航空理论系; |
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| 摘 要： | 倒立摆系统是一个非线性多变量的不稳定的系统。过去人们对倒立摆的控制都没有考虑到输出噪声的影响,这样就降低了控制的精度。卡尔曼滤波器能够对被噪声污染的信号进行有效地估计,从而降低了噪声的影响。本文介绍了卡尔曼滤波器在倒立摆控制系统中的应用并给出了仿真结果。
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| 关 键 词： | 卡尔曼滤波器 倒立摆 状态方程 |
The application of Kalman filter in inverted pendulum control system |
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| LI Guo-xin,XU Yan-li,JIANG Yong-zhou.The application of Kalman filter in inverted pendulum control system[J].Journal of Changchun University,2009,19(6):12-14,34. |
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| Authors: | LI Guo-xin XU Yan-li JIANG Yong-zhou |
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| Institution: | 1.Electronic Information Engineering College;Changchun University;Changchun 130022;China;2.Department of Aviation Theory;Air Force Aviation University;China |
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| Abstract: | Inverted pendulum system is unstable multivariable nonlinear system.In the past,people did not consider the influences of noise in the control of inverted pendulum,which reduced control precision.Kalman filter can effectively estimate the signal that is affected by noise pollution and can reduce the effect of noise.This paper introduces the application of Kalman filter in inverted pendulum system and displays the simulation result. |
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| Keywords: | Kalman filter inverted pendulum state equation |
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