摘要
倒立摆系统是一个非线性多变量的不稳定的系统。过去人们对倒立摆的控制都没有考虑到输出噪声的影响,这样就降低了控制的精度。卡尔曼滤波器能够对被噪声污染的信号进行有效地估计,从而降低了噪声的影响。本文介绍了卡尔曼滤波器在倒立摆控制系统中的应用并给出了仿真结果。
Inverted pendulum system is unstable muhivariable nonlinear system. In the past, people did not consider the influences of noise in the control of inverted pendulum, which reduced control precision. Kalman filter can effectively estimate the signal that is affected by noise pollution and can reduce the effect of noise. This paper introduces the application of Kalman filter in inverted pendulum system and displays the simulation result.
出处
《长春大学学报》
2009年第6期12-14,34,共4页
Journal of Changchun University
关键词
卡尔曼滤波器
倒立摆
状态方程
Kalman filter
inverted pendulum
state equation
