대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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- Pages.420-422
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- 1998
이산형 칼만 필터를 이용한 서보 시스템의 상태 추정자 설계
A State Estimator for servo system using discrete Kalman Filter
- Shin, Doo-Jin (Dept. of Electrical Engineering INHA University) ;
- Yum, Hyung-Sun (Dept. of Electrical Engineering INHA University) ;
- Huh, Uk-Youl (Dept. of Electrical Engineering INHA University) ;
- Lee, Je-Hie (DOOWON Technical College)
- 발행 : 1998.11.28
초록
In this paper, we propose a position-speed control of servo system with a state estimator. And also we utilized two mass modelling in order to deals with real system accurately. The overall control system consists of two parts: the position-speed controller and state estimator. The Kalman filter applied as state - feedback controller is an optimal state estimator applied to a dynamic system that involves random perturbations and gives a linear,unbiased and minimun error variance recursive algorithm to estimate the unknown state optimally. Therefore we consider the error problem about the servo system modelling, the measurement noise at low-speed ranges a stochastic system, and implement a optimal state observer. Performance of the proposed state estimator are demonstrated by computer simulations.
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