Parameters optimization of PID controller based on Kalman filter and ant colony algorithm

摘要

For optimizing parameters and restraining process noise and measurement noise in PID controller, ant colony algorithm was introduced to improve Kalman filtering method, and the PID controller parameters optimization method based on Kalman filter and ant colony algorithm was put forward. This method optimized PID parameters by ant colony algorithm, and restrained process noise and measurement noise by Kalman filter. The simulation result showed that, the improved filtering method had high efficiency, a global PID parameters optimization was achieved, the error caused by system process noise and measurement noise was reduced, the control effect was greatly improved and enhanced.