关键词: 改进型卡尔曼滤波, 电机测速, M法, T法

Abstract:

Aiming at the rapid change of motor speed data caused by the abrupt change of the motor speed, a method of processing motor speed data based on improved Kalman filter was proposed to apply and suppress measurement noise. By comparing the relative error between M method and T method, the algorithm was used to take the average of the measuring speed data whose method had a larger error and the optimizing estimate of the speed data at the last moment. The obtained data was taken as an estimated value of the improved Kalman filtering algorithm, the measuring speed data whose method had less error was taken as an observed value of the improved Kalman filtering algorithm. The algorithm filtered the speed value of the servo motor by using MATLAB, the results show that compared with traditional Kalman filter, this algorithm has better dynamic characteristics and better filtering effect at processing motor speed data.

Key words: improved Kalman filter, speed measurement of motor, M method, T method