电工技术学报  2016, Vol. 31 Issue (15): 147-155    DOI:
电力电子与电力传动 |
基于积分链式卡尔曼滤波器的角加速度观测器的噪声参数整定及性能研究
邱文彬, 柴建云, 陆海峰, 曾颖宇, 孙旭东
电力系统及发电设备控制和仿真国家重点实验室清华大学 北京 100084
Parameters Setting and Performance Research for the Angular Acceleration Observer Based on All-Integrator Model Kalman Filter
Qiu Wenbin, Chai Jianyun, Lu Haifeng, Zeng Yingyu, Sun Xudong
State Key Laboratory of Control and Simulation of Power System and Generation Equipments Tsinghua University Beijing 100084 China
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摘要 

噪声统计特征值的整定是积分链式卡尔曼滤波器(IKF)的设计要点。针对噪声统计特征值的整定进行研究,推导出积分链式卡尔曼滤波器的离散噪声统计特征值与离散采样周期的函数关系,定量分析了积分链式卡尔曼滤波器的离散噪声统计特征值的跟踪性能。在此基础上,提出了一种定量计算噪声统计特征值的方法,通过滤波器截止频率、离散采样周期直接计算得到噪声统计特征值,改变了以往的仿真-实验-调整环整定方法,简化了设计流程。仿真和实验验证了所提出方法的有效性。

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邱文彬
柴建云
陆海峰
曾颖宇
孙旭东
关键词 卡尔曼滤波器 角加速度 加速度观测器 跟踪性能 噪声统计特征值    
Abstract

Obtaining the statistic characteristics of noises is the key point in the design of the all-integrator model Kalman filter (IKF).The setting of the statistic characteristics of noises has been studied in this paper.The function of the discrete statistic characteristics of noises and sampling period within the IKF has been derived.The tracking performance on the statistic characteristics of noises within the IKF has been quantitatively analyzed.On this basis,a method for calculating the statistic characteristics of noises by directly using roll-off frequency and discrete sampling period has been proposed,which overcomes the drawbacks of the traditional simulation-experiment-adjustment loop setting method and simplifies the design procedure.This proposed method is verified by simulations and experiments.

Key wordsKalman filter    angular acceleration    acceleration observer    tracking performance    statistic characteristics of noises   
收稿日期: 2015-04-28      出版日期: 2016-08-24
PACS: TM315  
通讯作者: 邱文彬 男,1981年生,博士研究生,研究方向为伺服控制。E-mail:qiuwb.hn@gmail.com(通信作者)   
作者简介: 柴建云 男,1961年生,教授,博士生导师,研究方向为风力发电、电机设计。E-mail:chaijy@tsinghua.edu.cn
引用本文:   
邱文彬, 柴建云, 陆海峰, 曾颖宇, 孙旭东. 基于积分链式卡尔曼滤波器的角加速度观测器的噪声参数整定及性能研究[J]. 电工技术学报, 2016, 31(15): 147-155. Qiu Wenbin, Chai Jianyun, Lu Haifeng, Zeng Yingyu, Sun Xudong. Parameters Setting and Performance Research for the Angular Acceleration Observer Based on All-Integrator Model Kalman Filter. Transactions of China Electrotechnical Society, 2016, 31(15): 147-155.
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