摘  要：提出了一种基于卡尔曼滤波器和状态观测器的加速度估计方法，卡尔曼滤波器估计出最优的速度信号，状态观测器根据速度信号和电流传感器得到的电流信号获取准确的加速度信号。直流电机采用位置、速度和加速度三环控制方式，实验结果表明：该法有效地提高了直流电机的速度控制稳定度。
关键词：直流电机；加速度控制；加速度估计；速度稳定度

Abstract: The paper proposed a method of acceleration estimation based on Kalman filter and acceleration observer. Kalman filter is used to estimate the best velocity signal, while current signal is obtained by the current sensor. The velocity signal and current signal are sent to the acceleration observer to acquire the precise acceleration signal. With the precise acceleration, DC motor can use the position, velocity and acceleration control method. The experimental result shows that this method can effectively improve the stability of DC motor’s velocity.
Key words: DC motor;acceleration control;acceleration estimation;velocity stability