摘要
本文阐述了卡尔曼滤波器的基本原理,以Y7250型螺纹磨床传动系统的物理参数建立了该系统的键合图,直接得到了此系统的六阶状态方程并建立了设计卡尔曼滤波器所必须的参数矩阵。在此基础上编制了计算机仿真软件,且以在机床上实时记录的随机噪声为仿真用的伪随机信号,组成了一个在随机信号干扰下的闭环控制系统进行加工精度的仿真。仿真结果证明了控制系统的优越性能,进一步显示了状态向量的均方差矩阵P和滤波器增益矩阵K均是稳定的,从而使软件更简化,更适合于实时控制。
The principle of the Kalman filter is discussed briefly. The unified diagram of a driving system bassd on physical paramenters of Y7250 screw grinder is estabilished. Then, the sixth梠rder state equation of this system and the parameter matrix which is required in Kalman filter design is derived. Based on these, the computer simulation software can be programmed and a closed control system with random disturbance is formed. All of the additive noises of the system are recorded from the real machine as pseudorandom disturbance simulation. The result of the simulation not only proves that the precision has been improved but also shows that the mean square error and the filter gain are stable. Therefore, the software is simplified and becomes more suitable for real-time control.
出处
《甘肃工业大学学报》
1990年第4期61-67,共7页
Journal of Gansu University of Technology
关键词
螺纹磨床
精度控制
计算机仿真
Kalman filtering, feedback control, simulation,unified diagram
