中文摘要：

根据控制对象的特性，把卡尔曼滤波器和采用参数自适应的模糊PID算法相结合，在具有控制干扰和测量噪声的恶劣环境下，实现对PID参数在线调整的同时，基本消除干扰和噪声影响。应用MATLAB软件编稃进行仿真，结果表明相对于传统PID和模糊PID控制，本控制系统对被控对象的时变性和非线性具有良好的适应能力，对控制干扰和测量噪声具有很好的抑制作用。

英文摘要：

According to the characteristics of controlled object, kalman filter and parameter self-adaptive fuzzy PID algorithm are combined together. In controlling interference and measurement noise in harsh environments, the implementation of the PID parameters on-line adjustments, and basic elimination of interference and noise. Compared with traditional PID and Fuzzy-PID control with MATLAB programming simulation, this method has adaptability to the system which has the characteristic of time variation, uncertainty and non-linearity. The system to control interference and measurement noise has a good inhibitory effect.