基于卡尔曼滤波的超声波电动机测速算法研究

Speed Measurement of Ultrasonic Motor Based on Kalman Filter Algorithm

使用增量式编码器的超声波电动机伺服系统利用M测速算法时存在较大的误差,针对这一情况,提出一种卡尔曼滤波测速算法。该方法在不改变原有电路的情况下,针对性地设计了状态方程和观测模型。仿真结果与实测的M测速算法结果相比较,卡尔曼滤波能够很好地跟随电机转速的变化,同时有效地抑制噪声对于测速的影响,降低了转速的超调量。并且根据仿真结果提出了一种改进的卡尔曼滤波,简化了计算量,使其具有较强的实用性。

Large error existed when using M speed detection method for uhrasonic motor with incremental encoder. Aiming at this situation a Kalman filter algorithm was proposed in this article. Without changing the original circuit, state equation and observer model were targeted designed. Comparing the results of simulation and experimental, the Kalman filter showed good performance in tracking the motor parameters, meanwhile effectively suppressed the impact of noisy in velocity estimation, reducing the speed overshoot. Basing on the simulation results, an improved Kalman filter was presented which greatly simplified the calculation to make it more practical.