基于卡尔曼滤波器的电动汽车PID控制系统设计

Research of PID Control System of Electric Vehicle Motor Based on Kalman Filter

针对传统PID控制器受控制参数的精度影响而带来的控制器性能的不足,文中提出了基于卡尔曼滤波器的PID控制器设计方法,通过设置卡尔曼滤波器的各项参数和噪声方差阵,提高了控制精度,并对未滤波处理及滤波处理两种情况下的仿真结果进行对比分析.结果表明,在相同的外部条件下,采用卡尔曼滤波器的PID控制系统优于传统的PID控制系统.

In view of the shortcomings of the traditional pure PID control systems, the authors give a design of Kalman filter P1D control system. Through establishing the matrix of variance of every parameter and noise for the filter simulation,the traditional PID control systems stability and precision are enhamced. The results indicate that Kalman filter has better control effects compared with the traditional PID control system under the same external conditions.