针对非接触式登船梯控制系统在实际工作中不可避免地受到干扰信号的影响这一问题，提出了卡尔曼滤波抗积分饱和PDF控制系统。该控制系统主要由PDF控制器、抗积分饱和控制器和卡尔曼滤波器三个部分组成。卡尔曼滤波抗积分饱和PDF控制系统具有优良的控制性能和动态品质。该控制系统能快速跟踪设定的参考信号且无超调与振荡出现，同时能抑制白噪声的污染。仿真结果表明，该控制系统提高了系统的自适应与鲁棒性。%In practical operation, the non-contact control system of boarding ladder is inevitably affected by interference signals, the design of Kalman filtering anti-integral saturation PDF control system is proposed. This control system mainly consists of three parts, i. e. , PDF controller, anti-integral saturation controller and Kalman filter. This control system possesses excellent control performance and dynamic quality, it can fast track the reference signal without overshoot or oscillation, and white noise pollution can be restrained. The result of simulation indicates that the control system improves the robustness and adaptation of the system.
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