卡尔曼滤波器在PLC系统中的实现

The Implementation of Kalman Filter in PLC System

卡尔曼滤波器涉及大量矩阵运算。针对PLC系统不支持矩阵存储问题,采用PLC的数据块(DB)和数组(ARRAY)类型,实现矩阵元素的存储;针对PLC系统不支持矩阵运算问题,采用拆分方法将矩阵运算拆分为PLC系统可以支持的加、减、乘、除运算,从而通过PLC系统基本指令实现矩阵运算。并将典型矩阵运算编写为若干功能(FC),通过多次功能的嵌套调用,在PLC系统中实现了卡尔曼滤波算法。将该算法实际运用于信号滤波和小球跟踪实验。实验结果表明,PLC系统实现的卡尔曼滤波器具有滤波和跟踪功能,提高了PLC的智能化程度。

The Kahnan filter is involved in a large number of matrix operations. Aiming at the problem that the PLC system does not support the matrix storage, this paper adopts the data block and array type of PLC, and realizes the storage of matrix element easily. Aiming at the problem that the PLC system does not support the matrix operations, this paper uses the split method to make the matrix operations split as the basic data operations i.e. addition, subtraction, multiplication, and division supported by PLC, and realizes the algorithm through the PLC basic instruction. Then writing the typical matrix operations as a number of functions （FC）, the Kahnan filter algorithm can be realized by using the FC repeatedly. Finally, making the algorithm applies to the experiment of signal filtering and ball tracking practically. Experiments results show that： the Kalman filter in the PLC system has the functions of filtering and tracking, and improves the intelligence of the PLC system.