The Implementation of Kalman Filter in PLC System
XU Cheng-a · Techniques of Automation and Applications · 2014
The Kalman filter is involved in a large number of matrix operations. Aiming at the problem that the PLC system does not support the matrix storage, this paper adopts the data block and array type of PLC, and realizes the storage of matrix element easily. Aiming at the problem that the PLC system does not support the matrix operations, this paper uses the split method to make the matrix operations split as the basic data operations i.e. addition, subtraction, multiplication, and division supported by PLC, and realizes the algorithm through the PLC basic instruction. Then writing the typical matrix operations as a number of functions(FC), the Kalman filter algorithm can be realized by using the FC repeatedly. Finally,making the algorithm applies to the experiment of signal filtering and ball tracking practically. Experiments results show that: the Kalman filter in the PLC system has the functions of filtering and tracking, and improves the intelligence of the PLC system.