基于卡尔曼滤波器的分数阶PI^(λ)D^(μ)控制器

A Fractional Order PI^(λ)D^(μ)Controller Based on Kalman Filter

针对整数阶被控对象和分数阶被控对象,分别采用分数阶PIλDμ控制器与整数阶PID控制器进行控制,考虑实际系统存在的干扰噪声,在分数阶控制器的后端加卡尔曼滤波器,滤除噪声。对给定的被控系统建立连续状态空间模型,并将其用零阶保持器转换为离散模型,在实现分数阶控制器数字化的同时,结合离散卡尔曼滤波算法,通过仿真实例表明分数阶控制器既能有效地控制系统且能很好地滤除噪声。

FOPID and PID controller control integer plant and fractional order plant respectively,considering the interference noise,we add a Kalman filter to the rear end of the FOPID controller to filter out the noise.For the given plant,establish a continuous state space model and then convert it into a discrete model by zero-order holder.Combined the Kalman filter algorithm with the digital implementation of FOPID,the simulation results show that the FOPID controller,based on Kalman filter,can control the system and remove the noise effectively.