基于卡尔曼滤波的磨机给料滑模控制的研究

Research on Sliding Mode Control of Mill Feed Based on Kalman filter

针对磨矿过程机理复杂,影响因素多,非线性、多变量、大惯性、随机干扰大等特征,利用模糊控制方法调整指数趋近律的趋近参数的滑模变结构控制器,结合卡尔曼滤波的控制方法,设计了一种新型的控制器,实现对磨机给料的自动控制,使磨机的给料量能够稳定准确的跟踪设定值。仿真结果表明:卡尔曼滤波的滑模变结构控制器的使用,能够抵抗外界噪声的干扰,消除系统静差,提高系统的精度和鲁棒性。从而减少磨机给料量的波动,使磨机运行更稳定可靠,提高磨机的工作效率。

According to the features that mechanism of grinding process is complex, multi factors, multi variable, nonlinear, large inertia, random disturbance and etc, we used fuzzy control method to adjust the parameters of reaching the exponential reaching law sliding mode variable structure controller, and designed a new type of controller combined with the Kalman filter, to realize automatic control of mill feed. The mill feed amount can stably and accurately track the set value. The simulation results show that the sliding mode variable structure controller based on Kalman filter can resist the disturbance of external noise, eliminate the static error of the system, and improve the accuracy and robustness of the system. Thus, the fluctuation of the feed quantity of the mill is reduced, and the operation of the mill is more stable and reliable, and the work efficiency of the mill is improved.