引用本文:李海芬,谭永红,董瑞丽,程冉冉.动态迟滞Hammerstein系统的改进卡尔曼状态估计[J].控制理论与应用,2020,37(4):767~775.[点击复制]
LI Hai-fen,TAN Yong-hong,DONG Rui-li,CHENG Ran-ran.Modified Kalman filtering for Hammerstein systems with dynamic hysteresis[J].Control Theory and Technology,2020,37(4):767~775.[点击复制]
动态迟滞Hammerstein系统的改进卡尔曼状态估计
Modified Kalman filtering for Hammerstein systems with dynamic hysteresis
摘要点击 2183  全文点击 819  投稿时间：2019-02-28  修订日期：2019-08-30
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DOI编号  10.7641/CTA.2019.90114
  2020,37(4):767-775
中文关键词  非光滑卡尔曼滤波器  动态迟滞  Hammerstein系统  状态估计
英文关键词  non-smooth kalman filter  dynamic hysteresis  Hammerstein system  state estimation
基金项目  中央高校基本科研业务费资助(3142018006,3142018012);廊坊市科学技术局资助项目(2018011039,20160110522016011052)，国家自然科学基金项 目（61873243,31470588）
作者单位E-mail
李海芬 华北科技学院 lhf1986119@sina.com 
谭永红* 上海师范大学  
董瑞丽 东华大学  
程冉冉 华北科技学院  
中文摘要
      迟滞特性具有非光滑、多值映射等复杂特性.而在实际的工程中,当输入电压变化频率超过一定的范围时,迟滞的特性是随着输入频率的改变发生变化,使得整个系统的状态估计工作更复杂. 本文首先提出一种新的描述动态迟滞的方法,进而描述了动态迟滞Hammerstein系统的状态空间方程, 根据此系统在传统卡尔曼滤波器的基础上进行改进得到一种新的非光滑卡尔曼滤波器. 最后通过仿真和实验, 比较了在输入信号变化频率比较大时,用动态迟滞Hammerstein 系统来描述压电陶瓷和采用静态迟滞Hammerstein系统来描述压电陶瓷的特性,非光滑卡尔曼滤波器对这两种含有噪声的模型进行滤波,结果表明由于静态迟滞Hammerstein系统的建模不能很好的描述压电陶瓷的特性,模型存在着误差,因此对系统状态估计的结果也没有用动态Hammerstein系统的误差小,从而说明当输入电压频率变化比较大时研究动态的迟滞Hammerstein模型是很有意义的.
英文摘要
      As the hysteresis inherent in the piezoceramic actuator is a nonsmooth nonlinear with multivalued mapping.Inthe working process of the system,the hysteresis phenomena are often rate-dependent when excited by voltage excitationwith frequency content covering a wide range. It makes the state estimation of the whole system more complicated.In this paper, a new method to describe dynamic hysteresis is proposed, a non-smooth state space model for the dynamic Hammerstein system with hysteresis is constructed,then a non-smooth Kalman filter is proposed. Finally, simulation andexperimental example are presented.The dynamic hysteresis Hammerstein system and the static hysteresis Hammersteinsystem was used to describe the characteristics of the piezoelectric actuators as the frequency increase,the hammersteinsystem with static hysteresis can not accurately describe the characteristics of piezoelectric actuators, non-smooth Kalmanfilter can not accurately estimate the state of the hammerstein system with dynamic hysteresis. Therefore, it is meaningfulto study the rate-dependent hammerstein system.