基于观测融合Kalman滤波算法的PID控制器

A PID Controller Based On Measurement Fusion Kalman Filtering Algorithm

为了提高控制精度,可采用多个传感器对被控对象进行检测。本文基于Kalman滤波算法,应用加权最小二乘(WLS)观测融合方法,提出了对多个传感器所检测的数据进行最优加权,进而将融合后的数据经滤波后反馈到输入端,提高PID控制精度,一个三传感器信息融合PID控制器的仿真例子说明了该方法的有效性。

In order to increase the accuracy of control, the controlled objects can be measured by muhisensors. Based on Kalman filtering algorithm and by using the weighted least squares（WLS） measurement fusion method , that the datum measured by multisensors are weighted optimally is put forward, then the fused datum are filtered and brought back to the input endian, so that the accuracy of PID controlling is improved. A simulation example for 3-sensor information fusion PID controller shows its effectiveness.