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INTRODUCTION
Fluid level control is a basic control in all
industries. Inaccuracies of the measurement
data and the presence of noise in the
measurement can be harmful in a complex
process. Kalman filtering technique is a type of
filter to reduce measurement noise. This
application of Kalman Filter in control of the
water level is expected to reduce the risk of data
acquisition errors.
STUDY LITERATURE
Overview of Kalman Filter
Kalman filtering, also known as linear quadratic
estimation (LQE), is an algorithm that uses a series of
measurements observed over time, containing noise (random
variations) and other inaccuracies, and produces estimates of
unknown variables that tend to be more precise than those
based on a single measurement alone
The Kalman filter has numerous applications in technology
The algorithm works in a two-step process
is a common misconception that the Kalman filter assumes
that all error terms and measurements are Gaussian
distributed
For which
wk and vk : random variable represent the process noise and
measurement noise. This kind of noise is assumed as white noise.
Covariance Q and R are assumed constant.
A : matrix which shows previous time state and current time state.
B : matrix shows control signal or input and current state time.
H : matrix shows current state time and picking measurement.
MODELLING PROCESS
A process will be observed is
simple process, it is a
measurement height of water
in tank by using floating ball.
At this process, there are some
possibles:
Filling process, emptying, or
static, that is when the height
of tank increased, decreased,
or unchanged.
Mixing process or stagnant is
the relative height from buoys
at average height of tank
change to time or static.
q = 0,001
q = 0,01
Filling Model
State Process Model
for the best results, Kalman Filter Model from Lt =
Lt-1 + c.t will be converted into a continous process
transition
x = (x1,xf)t
Measurement Process Model
still used the assumption that there is noise
H = (1,0)
y (y,0)T
Noise Model
Also still get the noise R = r
Filtering Testing
assumed that the noise r = 0,1 and the accuracy
of the noise process qf = 0,00001
Obtained result
Mixing models
L = c.sin(2.r.t)+l
By
c =0.5 ; r = 0.05 ; l = 1
By using filters kalman get :
CONCLUSION
Kalman Filtration technique was introduced as a
reliable technique to diminish noise signal and
was succeed to improve data convergence.
Well preliminary initiation will also enhance
filtration data converging.
In linier system assumption and short time step,
linier modeling was quite enough.