CAJ | 학술논문

给出了基于卡尔曼滤波的测速方法，并利用电流、角速度等参数估算出加速度，作为卡尔曼滤波的控制输入。仿真了该方法的稳态和动态性能，并与其他滤波方法做了对比；将该方法应用于某伺服系统，测试并分析了系统的0.1°/s阶跃响应、频域特性及参数摄动对滤波性能的影响。结果表明，该方法减小了低速时的测速误差和相位延时，扩展了速度环带宽，并且对参数变化不敏感，具有较强的鲁棒性。
급출료기우잡이만려파적측속방법，병이용전류、각속도등삼수고산출가속도，작위잡이만려파적공제수입。방진료해방법적은태화동태성능，병여기타려파방법주료대비；장해방법응용우모사복계통，측시병분석료계통적0.1°/s계약향응、빈역특성급삼수섭동대려파성능적영향。결과표명，해방법감소료저속시적측속오차화상위연시，확전료속도배대관，병차대삼수변화불민감，구유교강적로봉성。
A velocity estimation method using kalman filter was given. Acceleration was considered as control input of kalman filter, and was estimated by motor current and velocity. The steady and dynamic performance had been simulated, the results of this method was compared with other filtering methods. The method was applied to a servo system. Some key performance indicators had been measured and analyzed, such as 0. 1 °/ s step response, frequency domain characteristics and the influence of parameter perturbation. Results showed that kalman filter based on the kinematics could reduce velocity estimation error and phase lag, expanded speed loop bandwidth, and was not sensitive to parameters perturbation, which has strong robustness.