CN110209049B - Narrow-band large-amplitude disturbance suppression method based on inertial loop - Google Patents
Narrow-band large-amplitude disturbance suppression method based on inertial loop Download PDFInfo
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Abstract
The invention discloses a narrow-band large-amplitude disturbance suppression method based on an inertia loop, which is used for solving the problem that the requirement of a high-precision stable control system cannot be met when narrow-band large-amplitude external disturbance exists in a stable platform of the control system. The method provides a narrow-band large-amplitude disturbance suppression method based on an inertia loop on the basis of multi-closed-loop control. According to the invention, stability constraint is provided for the design of the feedforward compensation controller from the system stability, the design is performed from the wave trap on the basis of ensuring the system stability, and the design scheme of the feedforward compensation controller aiming at the external narrow-band large-amplitude disturbance is provided by combining a disturbance observer method, so that the purpose of effectively inhibiting the external narrow-band large-amplitude disturbance is finally achieved, the stability of the system is ensured, and the stability precision of the control system is effectively improved.
Description
Technical Field
The invention belongs to the field of stability control, and particularly relates to a narrow-band large-amplitude disturbance suppression method based on an inertia loop, which is mainly used for effectively suppressing external narrow-band large-amplitude disturbance and further improving the stability of motion platform stabilization equipment.
Background
In the control device, the stability accuracy of the system can be influenced by external disturbance, such as ground vibration, and stable platform vibration caused by perturbation caused by air flow. Especially a stabilizing device mounted on a moving platform such as an airplane, automobile, ship, etc., may be subject to a great deal of disturbance due to irregular movement of the mounting carrier. In some specific cases, such as when the stable platform is located on the moving platform, the external disturbance amount can be directly measured by the sensor, and there is often a narrow-band external disturbance with a large amplitude. Greatly reducing the stability accuracy of the system. The control strategy of the traditional control method is to adopt multi-closed-loop control, take an MEMS accelerometer, a fiber optic gyroscope and an image sensor CCD as an acceleration sensor, a speed sensor and a position sensor respectively to obtain dynamic data of a stable platform, and establish a speed and position double closed loop or an acceleration, speed and position three closed loop control loop to improve the stability and disturbance suppression capability of the system. On the basis, the traditional Disturbance observer is introduced into an acceleration ring by the document MEMS Inertial Sensors-Based Multi-Loop Control Enhanced by Disturbance and Compensation for Fast Steering Mirror System (Sensors, Vol (16), 2016), and the Disturbance suppression capability of the System is further improved Based on an Inertial Loop. However, narrow-band large-amplitude external disturbance cannot be specifically suppressed, so that the actual disturbance suppression effect is rough and inefficient. In order to specifically suppress the external disturbance with narrow band and large amplitude and improve the stability precision of the system, a targeted method for suppressing the disturbance with narrow band and large amplitude based on an inertia loop needs to be provided.
Disclosure of Invention
The method comprises the steps of measuring measurable external disturbance and carrying out frequency domain analysis to obtain characteristic information of the external narrow-band large-amplitude disturbance, then carrying out three-loop closed loop on acceleration, speed and position, obtaining a feedforward compensation controller of a disturbance observer on an acceleration loop of the inertia loop according to a wave trap design, and effectively inhibiting the external narrow-band large-amplitude disturbance on the basis of ensuring the stability of a system according to mathematical calculation and experimental verification.
In order to achieve the purpose of the invention, the invention provides a narrow-band large-amplitude disturbance suppression method based on an inertia loop, which comprises the following steps:
step (1): and a gyroscope and an accelerometer are respectively arranged on the two deflection shafts of the control stable platform and used for respectively sensing the angular velocity and the angular acceleration of the two shafts of the platform moving in the inertial space. The sampling frequency of the velocity and acceleration here is generally high to achieve a high bandwidth inner loop. Sending the optical signal of the control stable platform to an image sensor CCD to obtain a position signal of a controlled object, wherein the sampling frequency of the position signal is lower;
step (2): because the control system is linearThe system can test the acceleration frequency object characteristics of the platform through a frequency response tester DSA. The DSA input is the driver input value and the DSA output is the accelerometer sample value. Acceleration object model with high sampling rate and high accuracy
And (3): upon acquiring the object model
On the basis, an acceleration controller C is designeda(s) implementing closed loop acceleration, then designing speed controller Cv(s) realizing closed loop of velocity feedback, and finally designing a position controller Cp(s) and position closed loop, thus realizing the traditional three-loop closed-loop control;
and (4): adding mathematical model of controlled object in acceleration ring
Is a measurement object model for controlling a stable platform, and is a real object model Ga(s) high precision approximation. The output of the accelerometer also contains the influence of external disturbance, and the output quantity of the accelerometer is compared with a mathematical model
Making a difference in the output quantity, and considering the obtained difference value as an estimator of the observed external disturbance quantity;
wherein the acceleration ring is a mathematical model of the controlled object
The pure differential links exist as follows:
in the above formula s2Is a double differential link composed of two pure differential links, K is a proportionality constant, omeganDamping-free natural frequency of the second-order oscillation link, damping ratio of the second-order oscillation link, TeIs a constant of the first-order inertial element. Mathematical model of controlled object of acceleration loop
A pure differential link exists;
and (5): feedforward compensation controller C for inertial loop acceleration loop disturbance observerf(s) analyzing the stability, wherein the obtained constraint conditions are used for constraining the parameter design;
wherein, the feedforward compensation controller CfThe stability constraints of(s) are as follows:
and (6): in a specific external environment, under the condition that the external disturbance quantity can be directly measured, measuring the disturbance quantity for a period of time by using another accelerometer, and performing Fast Fourier Transform (FFT) processing on a measurement result to obtain an amplitude frequency diagram of the external disturbance quantity;
when the control system stable platform is used on vehicle-mounted, ship-mounted and airborne motion platforms, the motion platforms are subjected to a large amount of ground vibration disturbance and fluid motion disturbance, and the control system stable platform is characterized in that disturbance quantities are mainly distributed in a specific frequency band. And acquiring time domain data under a disturbance environment by using another inertial acceleration sensor, performing Fast Fourier Transform (FFT) processing on the time domain data to obtain an amplitude-frequency distribution graph of the external disturbance, and determining the main frequency distribution of the external disturbance according to a frequency point corresponding to the large-amplitude disturbance in a result.
And (7): analyzing an amplitude frequency diagram of the external disturbance quantity to obtain a main frequency distribution point omega of the narrow-band large-amplitude external disturbanceiAt the main frequency point omegaiAs one of the parameters, the trap t(s) is designed as follows;
wherein, ω isiIs a main frequency point, lambda, of external narrow-band large-amplitude disturbanceiTrap width, alpha, for designing the trap T(s)iFor designing the trap depth of the trap T(s).
And (8): preliminarily designed feedforward compensation controller C based on inertial loop acceleration loop disturbance observerf(s)；
Feedforward compensation controller Cf(s) preliminary design as follows:
wherein
Mathematical model of controlled object for acceleration loop
The inverse of (c). And then, because of the stability constraint condition of the feedforward compensation controller, the integral link in the formula is completely replaced by a first-order inertia link, and finally the feedforward compensation controller C is designedf(s) the following:
wherein n is a normal number with a smaller value, so that the stability of the system can be ensured.
And (9): on the basis of three closed loops of acceleration, speed and position, a feedforward compensation controller C based on an inertial loop acceleration loop disturbance observer is usedfAnd(s) effectively suppressing external narrow-band large-amplitude disturbance, and improving the stability and precision of the system.
Compared with the prior art, the invention has the following advantages:
(1) compared with a three-closed-loop traditional control method, the method provided by the invention starts from an inertia loop, provides a targeted inhibition method for external disturbance of a narrow-band large amplitude, can effectively inhibit the disturbance of the narrow-band large amplitude of a specific frequency, and effectively improves the stability precision of the system;
(2) the suppression method is provided based on the inertia loop, and the high bandwidth of the inertia loop can be utilized to purposefully suppress the disturbance of the narrow band large amplitude value in a larger frequency band range;
(3) the stability constraint on the feedforward compensation controller is introduced, and the stability of the system can be effectively ensured when the narrow-band large-amplitude disturbance is pertinently inhibited;
(4) the three-closed-loop control circuit can be inserted into a traditional three-closed-loop control circuit, only influences the disturbance suppression capability of the three-closed-loop control circuit, does not influence the original design of the three-closed loop, and has the advantages of good practicability, easy realization and obvious effect;
(5) the method has clear thought and simple structure, improves the disturbance suppression capability of the system from the algorithm level, suppresses the narrow-band large-amplitude disturbance in a targeted manner, does not need to add hardware separately, saves the cost and has obvious advantages.
Drawings
FIG. 1 is a control block diagram of a narrow-band large-amplitude disturbance suppression method based on an inertia loop.
Fig. 2 is a frequency domain comparison graph of the boosted disturbance rejection capability of the present invention introduced into a conventional triple closed loop.
Fig. 3 is a graph of the time domain comparison of the stable precision of the invention after being introduced into the conventional triple closed loop.
Fig. 4 is a frequency domain comparison graph of disturbance suppression capability after the disturbance suppression capability is introduced into a conventional three-closed loop.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
FIG. 1 is a control block diagram of a narrow-band large-amplitude disturbance suppression method based on an inertia loop, wherein the control block diagram comprises a feedforward compensation loop, an acceleration loop, a speed loop and a position loop of a disturbance observer; the targeted disturbance suppression method is combined with the traditional three-closed-loop control method, and the narrow-band large-amplitude disturbance is further subjected to targeted suppression. The method comprises the following specific implementation steps:
step (1): and a gyroscope and an accelerometer are respectively arranged on the two deflection shafts of the control stable platform and used for respectively sensing the angular velocity and the angular acceleration of the two shafts of the platform moving in the inertial space. The sampling frequency of the velocity and acceleration here is generally high to achieve a high bandwidth inner loop. Sending the optical signal of the control stable platform to an image sensor CCD to obtain a position signal of a controlled object, wherein the sampling frequency of the position signal is lower;
step (2): because the control system is a linear system, the acceleration frequency object characteristic of the platform can be tested by a frequency response tester DSA. The DSA input is the driver input value and the DSA output is the accelerometer sample value. Acceleration object model with high sampling rate and high accuracy
And (3): upon acquiring the object model
On the basis, an acceleration controller C is designeda(s) implementing closed loop acceleration, then designing speed controller Cv(s) realizing closed loop of velocity feedback, and finally designing a position controller Cp(s) and position closed loop, thus realizing the traditional three-loop closed-loop control;
and (4): adding mathematical model of controlled object in acceleration ring
Is a measurement object model for controlling a stable platform, and is a real object model Ga(s) high precision approximation. The output of the accelerometer also contains the influence of external disturbance, and the output quantity of the accelerometer is compared with a mathematical model
Making a difference in the output quantity, and considering the obtained difference value as an estimator of the observed external disturbance quantity;
wherein the acceleration ring is a mathematical model of the controlled object
The pure differential links exist as follows:
in the above formula s2Is a double differential link composed of two pure differential links, K is a proportionality constant, omeganDamping-free natural frequency of the second-order oscillation link, damping ratio of the second-order oscillation link, TeIs a constant of the first-order inertial element.
And (5): feedforward compensation controller C for inertial loop acceleration loop disturbance observerf(s) analyzing the stability, wherein the obtained constraint conditions are used for constraining the parameter design;
wherein, the feedforward compensation controller CfThe stability constraints of(s) are as follows:
and (6): in a specific external environment, under the condition that the external disturbance quantity can be directly measured, measuring the disturbance quantity for a period of time by using another accelerometer, and performing Fast Fourier Transform (FFT) processing on a measurement result to obtain an amplitude frequency diagram of the external disturbance quantity;
when the control system stable platform is used on vehicle-mounted, ship-mounted and airborne motion platforms, the motion platforms are subjected to a large amount of ground vibration disturbance and fluid motion disturbance, and the control system stable platform is characterized in that disturbance quantities are mainly distributed in a specific frequency band. And acquiring time domain data under a disturbance environment by using another inertial acceleration sensor, performing Fast Fourier Transform (FFT) processing on the time domain data to obtain an amplitude-frequency distribution graph of the external disturbance, and determining the main frequency distribution of the external disturbance according to a frequency point corresponding to the large-amplitude disturbance in a result.
And (7): analyzing an amplitude frequency diagram of the external disturbance quantity to obtain a main frequency distribution point omega of the narrow-band large-amplitude external disturbanceiAt the main frequency point omegaiAs one of the parameters, the trap t(s) is designed as follows;
wherein, ω isiIs a main frequency point, lambda, of external narrow-band large-amplitude disturbanceiTrap width, alpha, for designing the trap T(s)iFor designing the trap depth of the trap T(s).
And (8): preliminarily designed feedforward compensation controller C based on inertial loop acceleration loop disturbance observerf(s)；
Feedforward compensation controller Cf(s) preliminary design as follows:
wherein
Mathematical model of controlled object for acceleration loop
The inverse of (c). And then, because of the stability constraint condition of the feedforward compensation controller, the integral link in the formula is completely replaced by a first-order inertia link, and finally the feedforward compensation controller C is designedf(s) the following:
wherein n is a normal number with a smaller value, so that the stability of the system can be ensured.
And (9): on the basis of three closed loops of acceleration, speed and position, a feedforward compensation controller C based on an inertial loop acceleration loop disturbance observer is usedfAnd(s) effectively suppressing external narrow-band large-amplitude disturbance, and improving the stability and precision of the system.
The following describes the design process and effect of the present invention in detail by taking a control system stable platform experiment system as an example:
(1) the acceleration transfer function model of the system is measured by the frequency response tester, and G can be considered in the design processa(s) and
approximately equal:
(2) the acceleration, speed and position controller can be designed through an acceleration object model as follows, and the traditional three-ring closed loop is realized:
(3) in the measurement of the external disturbance amount by using another accelerometer, Fast Fourier Transform (FFT) processing is performed on the measurement result as shown in fig. 2 to obtain a main frequency point ω of the external disturbance amounti＝12.4Hz；
(4) The trap t(s) is designed as follows:
wherein ω isi＝77.91，λi＝0.016，αi＝50。
(5) After the traditional three-loop closed-loop control is realized, a feedforward compensation controller C based on an inertial loop acceleration loop disturbance observer is designedf(s) is:
wherein n is 10.
(6) Fig. 3 is a time domain comparison diagram of stable precision after the invention is introduced into a conventional three-closed loop. Compared with the traditional three-closed-loop method, the method has the advantages that after the narrow-band large-amplitude disturbance suppression method based on the inertia loop is introduced, the narrow-band large-amplitude disturbance can be effectively suppressed, and the stability and the precision of the system can be obviously improved.
(7) Fig. 4 is a frequency domain comparison graph of disturbance suppression capability after the disturbance suppression capability is introduced into a conventional three-closed loop. Compared with the traditional three-closed-loop method, the frequency domain disturbance suppression capability of the system has a trap effect after the narrow-band large-amplitude disturbance suppression method based on the inertia loop is introduced, and the external disturbance of the narrow-band large-amplitude can be effectively suppressed.
Claims (6)
1. A narrow-band large-amplitude disturbance suppression method based on an inertia loop is characterized by comprising the following steps: the specific implementation steps are as follows:
step (1): a gyroscope and an accelerometer are respectively arranged on two deflection shafts of the control stable platform and are used for respectively sensing the angular velocity and the angular acceleration of the two shafts of the platform moving in an inertial space; sending the optical signal of the control stable platform to an image sensor CCD to obtain a position signal of a controlled object;
step (2): the acceleration frequency object characteristic of the platform can be tested through a frequency response tester DSA, the DSA input is a controller output value, the DSA output is an accelerometer sampling value, and therefore an acceleration object model with higher precision can be obtained
And (3): upon acquiring the object model
On the basis, an acceleration controller C is designeda(s) implementing closed loop acceleration, then designing speed controller Cv(s) realizing closed loop of velocity feedback, and finally designing a position controller Cp(s) and position closed loop, thus realizing the traditional three-loop closed-loop control;
and (4): adding mathematical model of controlled object in acceleration ring
Is a measurement object model for controlling a stable platform, and is a real object model Ga(s) high precision approximation, accelerometer output also including external disturbance influence, and output of accelerometer and mathematical model
Making a difference in the output quantity, and considering the obtained difference value as an estimator of the observed external disturbance quantity;
and (5): feedforward compensation controller C for inertial loop acceleration loop disturbance observerf(s) analyzing the stability, wherein the obtained constraint conditions are used for constraining the parameter design;
and (6): in a specific external environment, under the condition that the external disturbance quantity can be directly measured, measuring the disturbance quantity for a period of time by using another accelerometer, and performing Fast Fourier Transform (FFT) processing on a measurement result to obtain an amplitude frequency diagram of the external disturbance quantity;
and (7): analyzing an amplitude frequency diagram of the external disturbance quantity to obtain a main frequency distribution point omega of the narrow-band large-amplitude external disturbanceiAt the main frequency point omegaiAs one of the parameters, a trap T(s) is designed;
and (8):according to the designed wave trap T(s) and stability constraint conditions, further designing a feedforward compensation controller C based on an inertial loop acceleration loop disturbance observerf(s); the feedforward compensation controller C based on the inertial loop acceleration loop disturbance observerf(s) preliminary design as follows:
wherein
Mathematical model of controlled object for acceleration loop
The inverse of (1);
then according to the mathematical model of the controlled object of the acceleration ring
A pure differential link exists, and the feedforward compensation controller C based on the inertia loop acceleration loop disturbance observerf(s) the integral element in the above formula is replaced by a first-order inertia element, and finally a feedforward compensation controller C is designedf(s) the following:
wherein n is a normal number with a smaller value, so that the stability of the system can be ensured;
and (9): on the basis of three closed loops of acceleration, speed and position, a feedforward compensation controller C designed by using a narrow-band large-amplitude disturbance suppression method based on an inertia loopfAnd(s) realizing effective suppression of external narrow-band large-amplitude disturbance.
2. The method of claim 1The method for suppressing the narrow-band large-amplitude disturbance based on the inertia loop is characterized by comprising the following steps: mathematical model of controlled object of acceleration ring in step (4)
The pure differential links exist as follows:
wherein s is2Is a double differential link composed of two pure differential links, K is a proportionality constant, omeganDamping-free natural frequency of the second-order oscillation link, damping ratio of the second-order oscillation link, TeIs a constant of the first-order inertial element.
3. The method for suppressing the narrow-band large-amplitude disturbance based on the inertia loop as claimed in claim 2, wherein: feedforward compensation controller C based on inertial loop acceleration loop disturbance observer in step (5)fThe stability constraints of(s) are as follows:
4. the method for suppressing the narrow-band large-amplitude disturbance based on the inertia loop as claimed in claim 1, wherein: the specific working environment in the step (6) is the working environment when the control system stable platform is used on vehicle-mounted, ship-mounted and airborne motion platforms, and the like, and at the moment, the motion platform is subjected to a large amount of ground vibration disturbance and fluid motion disturbance, and the specific working environment is characterized in that disturbance quantity is mainly distributed in a specific frequency band; and acquiring time domain data under a disturbance environment by using another inertial acceleration sensor, performing Fast Fourier Transform (FFT) processing on the time domain data to obtain an amplitude-frequency distribution graph of the external disturbance, and determining the main frequency distribution of the external disturbance according to a frequency point corresponding to the large-amplitude disturbance in a result.
5. The method for suppressing the narrow-band large-amplitude disturbance based on the inertia loop as claimed in claim 1, wherein: the wave trap T(s) in step (7) is designed as follows:
wherein ω isiIs a main frequency point, lambda, of external narrow-band large-amplitude disturbanceiTrap width, alpha, for designing the trap T(s)iFor designing the trap depth of the trap T(s).
6. An inertia loop-based narrow-band large-amplitude disturbance suppression method according to any one of claims 1-5, characterized in that: design and use of feedforward compensation controller C based on inertial loop acceleration loop disturbance observerfAnd(s), the stability of the system and the external narrow-band large-amplitude disturbance required to be suppressed are fully considered, and the purpose of effectively suppressing the external narrow-band large-amplitude disturbance based on the inertia loop is achieved.
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