基于卡尔曼滤波器的等效复合控制技术研究

李文军; 陈 涛

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基于卡尔曼滤波器的等效复合控制技术研究

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- 基于卡尔曼滤波器的等效复合控制技术研究
- Equivalent combined control technique based on Kalman filter
- 光学精密工程 2006年14卷第2期页码：279-284
- 作者机构：
  
  1. 中国科学院长春光学精密机械与物理研究所,吉林长春,中国,130033
  2. 中国科学院研究生院北京,100039
- 作者简介：
- 基金信息：
- DOI：
  中图分类号： V556
- 收稿日期：2005-11-22，
  
  修回日期：2006-01-18，
  
  网络出版日期：2006-04-30，
  
  纸质出版日期：2006-04-30
- 稿件说明：
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李文军, 陈涛. 基于卡尔曼滤波器的等效复合控制技术研究[J]. 光学精密工程, 2006,14(2):279-284.

LI Wen-jun, CHEN Tao. Equivalent combined control technique based on Kalman filter[J]. Optics and precision engineering, 2006, 14(2): 279-284.
李文军, 陈涛. 基于卡尔曼滤波器的等效复合控制技术研究[J]. 光学精密工程, 2006,14(2):279-284. DOI：

LI Wen-jun, CHEN Tao. Equivalent combined control technique based on Kalman filter[J]. Optics and precision engineering, 2006, 14(2): 279-284. DOI：

摘要

等效复合控制技术是一种比较理想的高精度跟踪技术手段。阐述了复合控制及等效复合控制技术的基本原理

分析了机动目标的随机加速度模型

给出了卡尔曼滤波预测算法的实现过程

并在假定目标满足随机加速度模型的基础上

建立了基于卡尔曼预测滤波技术的光电经纬仪的等效复合控制系统。针对脱靶量滞后问题

提出了一种人为将编码器延迟再和脱靶量合成

而后采用卡尔曼滤波进行外推来克服该问题对系统影响的新方法。仿真结果表明

所建立的等效复合控制系统

可以对60°sin0.573 t的等效正弦目标达到0.2'的跟踪精度

相对于传统的速度滞后补偿方法

精度提高了10倍。最后实验验证了等效复合控制系统的有效性。

Abstract

Equivalent combined control is an ideal tracking measure with high tracking precision. The basic principles of the combined control and equivalent combined control were described

the random acceleration model of maneuvering object was also analysed and how to realize the Kalman filting was given in the paper. An equivalent combined control system was constructed on an optoelectronic theodolite based on Kalman fiter by assuming the object maneuvers with random acceleration model. Aiming to the problem of delay of tracking error

a new method of predicting the right maneuvering parameter of object from the synthesized value of the tracking error and delayed encoder data was put forward to eliminate the effect of the problem. The results of simulation show that the equivalent combined control system has only 0.2' when tracking the equivalent sine object of 60°sin 0.573 t

it is 10 times better than that of the traditional velocity delay method. In the end

the validity of the equivalent combined technique is testified by experiment.

关键词

Keywords

references

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