摘要
汽车的液压主动悬架系统在控制过程中不可避免的受到噪声的影响。应用卡尔曼滤波对系统的状态向量做最优估计,并应用到系统的全状态反馈控制中,可以有效的提高系统的鲁棒性。文章给出了卡尔曼滤波的应用条件,对单一LQR调节器系统和基于LQG理论的调节器系统做了仿真对比。在LQR调节器系统中前置卡尔曼滤波,能得到更好的振动控制效果。
The control process of hydraulic active suspension system in car is inevitably disturbed by noise.Kalman filter is applied to make an optional estimation for the system state vector,and to the all-state feedback control in system,which can improve the system robust.The Kalman filter application condition is given in this paper and makes an emulation contrast between the single LQR adjuster with the adjuster based on LQG theory.The LQR adjuster with forehead kalman filter can produce a more satisfactory effect on vibration control.
出处
《计算机与数字工程》
2010年第10期54-56,98,共4页
Computer & Digital Engineering
关键词
卡尔曼滤波
液压主动悬架
LQG问题
仿真
Kalman filter
hydraulic active suspension
LQG problem
simulation
