基于最优融合估计的PID控制器应用研究

Application research of a PID controller based on optimal fused estimation

在线性最小方差最优融合估计准则下,基于Riccati方程,对于带控制输入的单通道CAR-MA信号,提出了全局最优多传感器加权观测融合Kalman滤波器。应用于PID控制器的设计中,可以提高滤波精度,减小稳态误差。通过对微泳动机器人速度控制系统的仿真实验,说明了其有效性。

Under the linear minimum variance optimal fused estimation criterion,based on the Riccati equation,a globally optimal multi-sensor weighted measurement fusion Kalman filter is presented for single channel CARMA signals with control input.Applied to the design of PID controller,it can improve the filter precision and reduce the steady-state error.A simulation experiment with speed control system of micro swimming robot shows its effectiveness.