基于卡尔曼滤波器的分数阶PIλDμ控制器-机械设计及理论专业论文.docxVIP

Abstract The general controller in automatic control field is integral PID controller, which doesn’t consider the process and measurement noise in real system. However, researches have showed that fractional model can describe the real system better, and Kalman filter has also been widely used. To this situation, and with the foundation of the former work, this paper study a fractional controller based on Kalman filter, which combine the fractional control theory and Kalman filter theory. To design fractional order PI λ?D?????controller for the control system, this paper proposed a new method—a method based on the Taylor series expansion and the simulations show the advantage. Study the performance changes of the closed-loop system with each of the parametric variation of the fractional order PI λ?D? (FOPID) controller and the controlled project, described the robustness of the FOPID. Considering the process and measurement noise，establish the continuous state space model of the given plant, and then convert it into discrete by zero-order holder. Take the control action of digital discrete form of FOPID into account, which is derived from the concept of short-term memory, and combined with the Kalman filter algorithm, digital realized the fractional order controller. The comparison of the numerical simulation results of the four models that fractional order PI λ?D??????controller and integer PID controller control the fractional project and integer project respectively, shows that the fractional order controller, based on Kalman filter has better control performance than the integer one, and also can effectively remove the noise. The controller that this paper study and design has good control and filter action, which is also has its theory and application value. Key words: fractional calculus; fractional order controller; Kalman filter; discrete control system; state space model 目 录 目 录 HYPERLINK \l _bookmark0 第 1 章 绪论 1 HYPERLINK \l _bookm