CN104238356A - Observation method based on extended state observer for time delay system - Google Patents
Observation method based on extended state observer for time delay system Download PDFInfo
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- CN104238356A CN104238356A CN201410498937.6A CN201410498937A CN104238356A CN 104238356 A CN104238356 A CN 104238356A CN 201410498937 A CN201410498937 A CN 201410498937A CN 104238356 A CN104238356 A CN 104238356A
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- extended state
- state observer
- delayed
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- observation method
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Abstract
The invention discloses an observation method based on an extended state observer for a time delay system. The observation method includes inputting the output quantity y of a controlled target into the extended state observer directly, inputting the control quantity u into a delayer, and inputting the control quantity u which is delayed by the time delayer into the extended state observer until the time of the control quantity u delayed by the delayer is equal to the delay quantity of the time delay system. Therefore, synchronization of the control quantity and the output quantity of the controlled object when being input into the extended state observer is achieved, and the observer has better observation result. The observation method is easy, feasible and effective.
Description
Technical field
The present invention relates to electroporation field, especially a kind of extended state observer is to the observation procedure of time lag system.
Background technology
Extended state observer, both for observing unknown disturbances, also can be used for the quantity of state of recording geometry, and the unknown disturbances of controller to observation compensates, and this can improve control effects.But in the process of time lag system, current method has larger problem.We know enter extended state observer have two amounts, the output quantity of to be controlled quentity controlled variable another one a be controlled device.These two amounts must be synchronously enter wherein, otherwise there will be dispersing of the inaccurate or even whole controller of observation.But the feature of time lag system is, the output quantity of controlled device lags behind controlled quentity controlled variable.Retardation time is exactly the time lag of time lag system.This just makes the input quantity entering extended state observer asynchronous with output quantity, and slight asynchronous meeting causes observed result inaccurate, and control system control accuracy lowers, and serious asynchronous meeting causes control system to disperse.
Summary of the invention
The object of the invention is: provide a kind of extended state observer to the observation procedure of time lag system, it can solve extended state observer and see indeterminable shortcoming to time lag system, extended state observer is had time lag system observe more accurately, to overcome the deficiencies in the prior art.
The present invention is achieved in that the observation procedure of extended state observer to time lag system, by the output quantity of controlled device
ydirectly enter extended state observer, and allow controlled quentity controlled variable
ufirst enter delayed device, delayed device is by controlled quentity controlled variable
uthe delayed time equals the delayed of time lag system, and then allows the controlled quentity controlled variable through delayed device
uenter extended state observer, so indirectly achieve the synchronous of controlled quentity controlled variable and output quantity.
Owing to have employed technique scheme, compared with prior art, the present invention adopts and carries out delayed by the controlled quentity controlled variable of controlled device through delayed device, enter extended state observer again, so just achieve and allow controlled quentity controlled variable be synchronous object when entering extended state observer with controlled device output quantity, make observer will obtain better observed result.The present invention is simple, and result of use is good.
Accompanying drawing explanation
Accompanying drawing 1 is principle flow chart of the present invention;
In Fig. 1
b 0it is controlled quentity controlled variable
uamplification coefficient, it is the intrinsic parameter of extended state observer, irrelevant with process.
Embodiment
Embodiments of the invention: extended state observer to the observation procedure of time lag system, by the output quantity of controlled device
ydirectly enter extended state observer, and allow controlled quentity controlled variable
ufirst enter delayed device, delayed device is by controlled quentity controlled variable
uthe delayed time equals the delayed of time lag system, and then allows the controlled quentity controlled variable through delayed device
uenter extended state observer, so indirectly achieve the synchronous of controlled quentity controlled variable and output quantity.
Parameter declaration is as follows: controller control cycle is T, and the delayed of time lag system is τ, and in reality, τ is greater than T, makes τ equal N divided by the business of T, controlled quentity controlled variable
ufirst be multiplied by
b 0 obtain it two product
ub 0 , and
ub 0 be the input of time lag device, the output of time lag device is
u '.Simultaneously
u 'be an input quantity of extended state observer, another one input quantity is the output quantity of controlled device
y; Being implemented as follows of delayed device: first open up N+1 variable:
u 1 ~ u n and
u ', the initial value of these variablees all equals zero;
u '=
u n ;
u n =
u n-1 ;
u n-1 =
u n-2 ; ......
u 2 =
u 1 ;
u 1 =
u; Variable after doing like this
u 'will lag behind
ua period of time, just equal τ during this period of time simultaneously; So just achieve and allow controlled quentity controlled variable
uwith controlled device output quantity
ybe synchronous object when entering extended state observer, once it is two synchronous, so observer will obtain better observed result.
Claims (1)
1. extended state observer is to an observation procedure for time lag system, it is characterized in that: by the output quantity of controlled device
ydirectly enter extended state observer, and allow controlled quentity controlled variable
ufirst enter delayed device, delayed device is by controlled quentity controlled variable
uthe delayed time equals the delayed of time lag system, and then allows the controlled quentity controlled variable through delayed device
uenter extended state observer, so indirectly achieve the synchronous of controlled quentity controlled variable and output quantity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410498937.6A CN104238356A (en) | 2014-09-26 | 2014-09-26 | Observation method based on extended state observer for time delay system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410498937.6A CN104238356A (en) | 2014-09-26 | 2014-09-26 | Observation method based on extended state observer for time delay system |
Publications (1)
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| CN104238356A true CN104238356A (en) | 2014-12-24 |
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| CN201410498937.6A Pending CN104238356A (en) | 2014-09-26 | 2014-09-26 | Observation method based on extended state observer for time delay system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111515958A (en) * | 2020-05-14 | 2020-08-11 | 重庆邮电大学 | Network delay estimation and compensation method of robot remote control system |
| CN113639204A (en) * | 2021-06-28 | 2021-11-12 | 厚普清洁能源股份有限公司 | Constant-temperature gas supply PID control system and method for LNG fuel ship |
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2014
- 2014-09-26 CN CN201410498937.6A patent/CN104238356A/en active Pending
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111515958A (en) * | 2020-05-14 | 2020-08-11 | 重庆邮电大学 | Network delay estimation and compensation method of robot remote control system |
| CN111515958B (en) * | 2020-05-14 | 2022-08-09 | 重庆邮电大学 | Network delay estimation and compensation method of robot remote control system |
| CN113639204A (en) * | 2021-06-28 | 2021-11-12 | 厚普清洁能源股份有限公司 | Constant-temperature gas supply PID control system and method for LNG fuel ship |
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Application publication date: 20141224 |