Fal函数滤波器的分析及应用.pdfVIP

14 11 Vol14 No11 2010 11 ELECTR IC MACH INES AND CONTROL Nov. 2010 Fal 王宇航, 姚郁, 马克茂 ( , 150080) : Fal函数是一种特殊的非线性结构, 是自抗扰控制器中扩张状态观测器 (ESO)的核心部 分提 了 Fal函数滤波器, 对于噪声有较好的滤波效果, 并分析了 Fal函数滤波器的滤波特性 提 了一种基于 Fal函数滤波器的新型 ESO, 用于处理量测环节带有噪声干扰的情况与扩展 一 阶状态到ESO 的方法以及扩展滤波器方程到ESO 的方法相比, 该新型 ESO无须扩展ESO 的阶数, 避免了因阶数增加带来的观测误差增大以及参数整定问题数值仿真表明, 该新型 ESO 对于带有 量测噪声的系统具有较好的状态跟踪效果 : Fal函数; 扩张状态观测器; 自抗扰控制; 滤波器 : T 13 : A : 1007- 449X( 2010) 11- 0088- 04 Analysisand application ofFal function filter WANG Yuhang, YAO Yu, MA Kemao ( Control and Smi u lation Center, H arb in Institute of Technology, H arbin 150080, Ch ina) Abstract: Fal function is a kind of special nonlinear structure, which is the key part of extended state observer in auto disturbance rejection controller. Fal function filterwas proposed, which has good filtering effect on noises; moreover the filtering characteristics of Fal function filterwas analyzed. Then a new type extended state observer (ESO) based on Fal function filter was proposed to dealw ith nonlinear system w ith measurem ent noises. Comparing w ith them ethod of extending a rank state to ESO and that of exten ding filter equation to ESO, this new m ethod did not need extend the rank ofESO. So the tracking error increasing problem and the parameter tuning problem can be avoided. A t last, the smi ulation results show that this new type ESO has good performance of states tracking for system w ith noisesm easurement. Key words: Fal function; extended state observer; auto disturbance rejection control; filter