Engineering system for creating a control program with a time-discrete Kalman Filter, that is taking into account delayed measurements

摘要

The system (1) has a function module library (11) including a prefabricated function module (13) with a state estimator, which is designed as a time-discrete Kalman filter (7). The filter processes a delay-afflicted measured variable (6') of a sample (6'') as a measured value of a state variable. A time point of input of the measured variable into the filter is delayed relative to a time point of detection at a technical process (3) around equal to or more than 2 times of a time period of scanning steps of the filter. A measured value of delay is correspondingly introduced into estimation.