无迹卡尔曼滤波算法在二级倒立摆上的应用研究

UKF in Double Inverted System

研究滤波算法在倒立摆系统控制中的应用。首先,采用机理法建立二级倒立摆的数学模型。其次,利用线性二次型控制器和无迹卡尔曼滤波算法,实现了二级倒立摆系统的仿真控制。特别地,从实验角度考察使用滤波算法与否对二级倒立摆系统控制效果的影响。实验结果表明,使用无迹卡尔曼滤波算法可明显提高控制器收敛速度,改善其稳定性,减少其超调量。进一步,对加无迹卡尔曼滤波算法和加扩展卡尔曼滤波算法进行的对比实验表明,前者收敛速度快,振动平稳,超调量小。采用无迹卡尔曼滤波算法对倒立摆系统进行实时滤波是非常有效的方案。

Research the feasibility of applying filtering algorithm to inverted pendulum system.Firstly,the mathematical model of inverted pendulum was established by mechanism of France.Secondly,the simulation is finished with linear-quadratic algorithm and unscented kalman filter.In contrast to the results from the simulation with and without unscented kalman filter,and the former have some good performance,such as faster convergence,good eroding resistion and less overshoot.On the basis of the above thesis,we have two experiments on adding unscented kalman filter and extended kalman filter,and the former have some good performance,such as faster convergence,good eroding resistion and less overshoot.Fact proved that unscented kalman filter is very effective for inverted pendulum system.