CN107450320A - A kind of fuzzy self-adaption compensating control method of Actuators Failures - Google Patents

A kind of fuzzy self-adaption compensating control method of Actuators Failures Download PDF

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CN107450320A
CN107450320A CN201710733732.5A CN201710733732A CN107450320A CN 107450320 A CN107450320 A CN 107450320A CN 201710733732 A CN201710733732 A CN 201710733732A CN 107450320 A CN107450320 A CN 107450320A
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virtual controller
adaptive
system model
actuators failures
compensation control
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CN107450320B (en
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王建晖
张春良
陈文力
陈子聪
黄运昌
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Guangzhou University
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    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

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Abstract

The invention discloses a kind of fuzzy self-adaption compensating control method of Actuators Failures, this method includes：Establish the industrial system model with Actuators Failures, resettle the adaptive rule that Virtual Controller and the Virtual Controller need to meet, then the Adaptive Compensation Control strategy of industrial system model is created, when actuator sends failure, according to the transmission controlled quentity controlled variable error of Virtual Controller, judge whether to trigger Adaptive Compensation Control, if it is, performing Adaptive Compensation Control strategy；Otherwise, return and judge.Using the embodiment of the present invention, the real-time online of unknown parameter and Actuators Failures model is calibrated, event triggering controlling mechanism is established, in the case where saving bandwidth situation, it compensate for unknown failure and random disturbances so that system asymptotically stability and all closed signals are all bounded.

Description

A kind of fuzzy self-adaption compensating control method of Actuators Failures
Technical field
The present invention relates to the fuzzy self-adaption compensation control of robotic technology field, more particularly to a kind of Actuators Failures Method.
Background technology
In actual robot system, particularly robot control system, because random perturbation is to be frequently present in reality A unstable source in system.Therefore, in the past more than ten years, the Self Adaptive Control design for stochastic system is one Individual main research direction, the achievement in research of many is also there has been, such as：Liapunov function approximatioss, fuzzy control Deng.But it is not good enough that the above method directly applies to the system effect containing unknown nonlinear link.In recent years, much based on adaptive The fuzzy logic system of Backstepping is answered to obtain very big concern, particularly in unknown nonlinear element Estimation Study.
Either liapunov function approximatioss, fuzzy control, Self Adaptive Control, or backstepping, Ta Mendou Assume that all actuators of controlled system are in good working order, i.e., all have ignored existing failure event in practice Barrier situation.But these factors ignored may reduce the performance of system, cause the unstable of closed-loop system, more even In causing catastrophic accident.Therefore, the situation of consideration actuator failures is needed in control algorithm design.
The content of the invention
The embodiment of the present invention proposes a kind of fuzzy self-adaption compensating control method of Actuators Failures, to unknown parameter and The real-time online calibration of Actuators Failures model, event triggering controlling mechanism is established, in the case where saving bandwidth situation, compensate for not Know failure and random disturbances so that system asymptotically stability and all closed signals are all bounded.
The embodiment of the present invention provides a kind of fuzzy self-adaption compensating control method of Actuators Failures, it is characterised in that bag Include：
Establish the industrial system model with Actuators Failures；Wherein, the industrial system model includes Actuators Failures event The described function of barrier；
The industrial system model is：
Wherein, x=[x1,x2,...,xn]∈Rn, y ∈ R and uci(t) ∈ R (i=1,2 ..., m) represent system shape respectively State, output and input；It is defined as [x1,x2,...,xj]；βi(x) ∈ R (1,2 ..., m) are the nonlinear function of actuator； fj、fn、βi(x) it is the systematic parameter of the industrial system model；V is an independent r rank standard Brownian movement；ρi∈ [0,1] it is constant；
The described function of the Actuators Failures failure is：
uPFi(t) input of i-th of actuator is represented；uci(t) output of i-th of actuator is represented；
Establish the adaptive rule that Virtual Controller and the Virtual Controller need to meet；
According to the Virtual Controller and the adaptive rule, the adaptive equalization of the industrial system model is created Control strategy；
When the actuator sends failure, according to the transmission controlled quentity controlled variable error of the Virtual Controller, judge whether to touch Adaptive Compensation Control is sent out, if it is, performing the Adaptive Compensation Control strategy；Otherwise, return and judge.
Further, the adaptive rule established Virtual Controller and the Virtual Controller and need to met, specifically For：
The industrial system model is second-order system, and the described function for determining physical controller is：
Wherein,kj=(kj,1,kj,21,…,kj,2m)T；
Virtual Controller is established, it is specific as follows：
Wherein, yr (n)It is yrI-th of time-derivative, yr(t) it is output signal, cn>0,an>0；
According to the Virtual Controller of foundation, adaptive rule is created, it is specific as follows：
Wherein, λn>0, γn>0, z1=p,ΓkIt is a nonsingular positive definite Matrix, γk>0, k ∈ R+。
Further, it is described according to the Virtual Controller and the adaptive rule, create the industrial system model Adaptive Compensation Control strategy, be specially：
The Adaptive Compensation Control strategy of establishment is：
Further, the transmission controlled quentity controlled variable error according to the Virtual Controller, judges whether to trigger adaptive benefit Control is repaid, is specially：
When the transmission controlled quentity controlled variable error of the Virtual Controller meets below equation, it is determined that triggering adaptive equalization control System, otherwise, return and judge；
The formula is：|e(t)|≥δ|uPFi(t)|+m1,δ>0。
Implement the embodiment of the present invention, have the advantages that：
The fuzzy self-adaption compensating control method of Actuators Failures provided in an embodiment of the present invention, establish band actuator and lose The industrial system model of effect, the adaptive rule that Virtual Controller and the Virtual Controller need to meet is resettled, is then created The Adaptive Compensation Control strategy of industrial system model, when actuator sends failure, controlled according to the transmission of Virtual Controller Error is measured, judges whether to trigger Adaptive Compensation Control, if it is, performing Adaptive Compensation Control strategy；Otherwise, return is sentenced It is disconnected.The problem of not considering Actuators Failures failure compared to Traditional control, technical solution of the present invention is to unknown parameter and actuator The real-time online calibration of failure model, event triggering controlling mechanism is established, in the case where saving bandwidth situation, compensate for unknown failure And random disturbances so that system asymptotically stability and all closed signals are all bounded.
Brief description of the drawings
Fig. 1 is a kind of stream of embodiment of the fuzzy self-adaption compensating control method of Actuators Failures provided by the invention Journey schematic diagram.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its His embodiment, belongs to the scope of protection of the invention.
It is a kind of embodiment of the fuzzy self-adaption compensating control method of Actuators Failures provided by the invention referring to Fig. 1 Schematic flow sheet, including step 101 is specific as follows to step 105, each step：
Step 101：Establish the industrial system model with Actuators Failures；Wherein, industrial system model loses comprising actuator Imitate the described function of failure.
In the present embodiment, in the present embodiment, due to robot body is regarded as a total system, then system Certainly exist the relation of velocity of displacement acceleration, but due in real system, robot will necessarily face random disturbances and Other nonlinear links, then robot can not simply be described as the relation of velocity of displacement acceleration, it is necessary to will do at random Disturb and other nonlinear links are taken into account, such as fi∈ R and Ψj∈RT(j=1,2 ..., n), the present invention considers Two are stated, therefore the industrial system model is：
Wherein, x=[x1,x2,...,xn]∈Rn, y ∈ R and uci(t) ∈ R (i=1,2 ..., m) represent system shape respectively State, output and input；It is defined as [x1,x2,...,xj]；βi(x) ∈ R (1,2 ..., m) are the nonlinear function of actuator； fj、fn、βi(x) it is the systematic parameter of industrial system model；V is an independent r rank standard Brownian movement；ρi∈[0, 1] it is constant.
It is not in Actuators Failures failure problems that traditional control method, which is, and the present invention considers, therefore will be performed The described function of device failure of removal is：
uPFi(t) input of i-th of actuator is represented；uci(t) output of i-th of actuator is represented.0≤ρi≤ 1, uTFi And t (t)iFFor uncertain constant.If without above-mentioned to practical problem (random disturbances, indeterminate, actuator failures etc.) Carry out mathematical description, then inconsiderate full influence can be brought in controller design, the influence may result in robot It is unstable, or even the problem of disaster occurs.
Step 102：Establish the adaptive rule that Virtual Controller and Virtual Controller need to meet.
In the present embodiment, because most of industry spot system can be briefly described as two with practical problem Rank linear system, but in practice system be usually present nonlinear element, uncertain link, random disturbances, actuator failures, Transfer resource it is limited wait the problems such as, therefore, in view of the above-mentioned problems, the present invention devises CCU and adaptive law, control Strategy maintains the stable operation of system.
Step 102 is specially：
A, industrial system model is second-order system, and the described function for determining physical controller is：
Wherein,kj=(kj,1,kj,21,…,kj,2m)T；Sgn is sign function, return parameters Positive and negative, bi∈ R are unknown constant parameters.
B, Virtual Controller is established, it is specific as follows：
Wherein, yr (n)It is yrI-th of time-derivative, yr(t) it is output signal, cn>0,an>0；
C, according to the Virtual Controller of foundation, adaptive rule is created, it is specific as follows：
Wherein, λn>0, γn>0, z1=p,ΓkIt is a nonsingular positive definite Matrix, γk>0, k ∈ R+。
The solution method of what above-mentioned two step only solved after robot system is by actuator failures, but still So unresolved transmission restricted problem, step 103 of the invention is to be directed to the transmission restricted problem, it is proposed that triggering control strategy Realize in the case of low transmission and actuator failures system it is continual and steady.
Step 103：According to Virtual Controller and adaptive rule, the Adaptive Compensation Control of industrial system model is created Strategy.
In the present embodiment, the Adaptive Compensation Control strategy of establishment is：
Wherein, tk, k ∈ R+, ε, 0<δ<1, m1,All it is autonomous Design parameter.The design can ensure system All signals meet the bounded during system operation.
Step 104：When actuator sends failure, according to the transmission controlled quentity controlled variable error of Virtual Controller, judge whether to touch Adaptive Compensation Control is sent out, if it is, performing step 105, otherwise, return to step 104.
In the present embodiment, when the transmission controlled quentity controlled variable error of Virtual Controller meets below equation, it is determined that triggering is adaptive Control should be compensated, otherwise, returns and judges；
The formula is：|e(t)|≥δ|uPFi(t)|+m1,δ>0。
Step 105：Perform Adaptive Compensation Control strategy.
When the size of control signal is satisfied with uncertain controller failure requirement, longer renewal interval passes through relative Big threshold values obtains, and can be obtained when system mode tends to balanced, shorter renewal interval by related less threshold values, so More preferable systematic function can be obtained by substantial amounts of accurate control signal afterwards.
In order to better illustrate technical solution of the present invention, by taking second order Nonlinear Stochastic robotics system as an example, second order is established System model, includes the description of the practical problems such as random disturbances, actuator failures, indeterminate, and model is as follows：
Y=x1；
Wherein, uPFiAnd u (t)ci(t) its input and output are represented respectively；x1, x2For state variable, ψj∈Rr(j=1, 2 ..., n) it is unknown smooth nonlinear function.
It is as follows according to convergence of approximation rule onset index π membership function：
The Virtual Controller of establishment and adaptive rule are as follows：
Wherein, α1And α2For Virtual Controller, θ is definedi=| | Φi||2, i=1,2 ..., n, ΓkIt is nonsingular positive definite square Battle array.The present invention passes through adaptive law firstWith Virtual Controller α1, make system mode x1Neutrality；Again by adaptive RuleWith Virtual Controller α2, make system mode x2Neutrality.The control method of event trigger mechanism is finally established, is built simultaneously It is verticalAdaptive law；So that signal satisfaction bounded during system operation that system is all.
When the transmission controlled quentity controlled variable error of Virtual Controller meets | e (t) | >=δ | uPFi(t)|+m1, during δ ＞ 0, it is determined that triggering Adaptive Compensation Control.
Control strategy is：
By emulating data verification, the triggering thing of Actuators Failures occurs in system for technical scheme proposed by the invention In the case of part, error signal can be effectively tracked, the real-time online of unknown parameter and Actuators Failures model is calibrated, is established Event triggers controlling mechanism, in the case where saving bandwidth situation, compensate for unknown failure and random disturbances so that system asymptotically stability And all closed signals are all bounded.
In summary, the fuzzy self-adaption compensating control method of Actuators Failures provided in an embodiment of the present invention, establishes band The industrial system model of Actuators Failures, the adaptive rule that Virtual Controller and the Virtual Controller need to meet is resettled, Then the Adaptive Compensation Control strategy of industrial system model is created, when actuator sends failure, according to Virtual Controller Controlled quentity controlled variable error is transmitted, judges whether to trigger Adaptive Compensation Control, if it is, performing Adaptive Compensation Control strategy；It is no Then, return and judge.The problem of not considering Actuators Failures failure compared to Traditional control, technical solution of the present invention is to unknown ginseng The real-time online of number and Actuators Failures model is calibrated, and establishes event triggering controlling mechanism, in the case where saving bandwidth situation, compensation Unknown failure and random disturbances so that system asymptotically stability and all closed signals are all bounded.
One of ordinary skill in the art will appreciate that realizing all or part of flow in above-described embodiment method, being can To instruct the hardware of correlation to complete by computer program, described program can be stored in a computer-readable storage In medium, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, described storage medium can For magnetic disc, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access Memory, RAM) etc..
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also regard For protection scope of the present invention.

Claims (4)

  1. A kind of 1. fuzzy self-adaption compensating control method of Actuators Failures, it is characterised in that including：
    Establish the industrial system model with Actuators Failures；Wherein, the industrial system model includes Actuators Failures failure Described function；
    The industrial system model is：
    Wherein, x=[x1,x2,...,xn]∈Rn, y ∈ R and uci(t) ∈ R (i=1,2 ..., m) represent system mode, defeated respectively Go out and input；It is defined as [x1,x2,...,xj]；βi(x) ∈ R (1,2 ..., m) are the nonlinear function of actuator；fj、fn、βi(x) it is the systematic parameter of the industrial system model；V is an independent r rank standard Brownian movement；ρi∈ [0,1] is Constant；
    The described function of the Actuators Failures failure is：
    uPFi(t) input of i-th of actuator is represented；uci(t) output of i-th of actuator is represented；
    Establish the adaptive rule that Virtual Controller and the Virtual Controller need to meet；
    According to the Virtual Controller and the adaptive rule, the Adaptive Compensation Control plan of the industrial system model is created Slightly；
    When the actuator sends failure, according to the transmission controlled quentity controlled variable error of the Virtual Controller, judge whether triggering certainly Adaptive compensation controls, if it is, performing the Adaptive Compensation Control strategy；Otherwise, return and judge.
  2. 2. the fuzzy self-adaption compensating control method of Actuators Failures according to claim 1, it is characterised in that described to build The adaptive rule that vertical Virtual Controller and the Virtual Controller need to meet, it is specially：
    The industrial system model is second-order system, and the described function for determining physical controller is：
    Wherein,kj=(kj,1,kj,21,…,kj,2m)T；
    Virtual Controller is established, it is specific as follows：
    Wherein, yr (n)It is yrI-th of time-derivative, yr(t) it is output signal, cn>0,an>0；
    According to the Virtual Controller of foundation, adaptive rule is created, it is specific as follows：
    ξ (x)=(ξ1(X),ξ2(X),…,ξN(X))T,
    Wherein, λn>0, γn>0,ΓkIt is a nonsingular positive definite matrix, γk>0, k ∈ R+。
  3. 3. the fuzzy self-adaption compensating control method of Actuators Failures according to claim 2, it is characterised in that described According to the Virtual Controller and the adaptive rule, the Adaptive Compensation Control strategy of the industrial system model is created, is had Body is：
    The Adaptive Compensation Control strategy of establishment is：
  4. 4. the fuzzy self-adaption compensating control method of Actuators Failures according to claim 3, it is characterised in that described According to the transmission controlled quentity controlled variable error of the Virtual Controller, judge whether to trigger Adaptive Compensation Control, be specially：
    When the transmission controlled quentity controlled variable error of the Virtual Controller meets below equation, it is determined that triggering Adaptive Compensation Control, no Then, return and judge；
    The formula is：|e(t)|≥δ|uPFi(t)|+m1,δ>0。
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CN113359469A (en) * 2021-07-02 2021-09-07 西安邮电大学 Fixed time fault-tolerant control method of nonlinear system based on event triggering
CN113406886A (en) * 2021-06-22 2021-09-17 广州大学 Fuzzy self-adaptive control method and system for single-link mechanical arm and storage medium

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CN109212974A (en) * 2018-11-12 2019-01-15 辽宁石油化工大学 The robust fuzzy of Interval time-varying delay system predicts fault tolerant control method
CN111240206A (en) * 2020-01-19 2020-06-05 广州大学 Building structure limited-time anti-seismic control method, system, device and medium
CN111240206B (en) * 2020-01-19 2023-02-03 广州大学 Building structure limited-time anti-seismic control method, system, device and medium
CN113406886A (en) * 2021-06-22 2021-09-17 广州大学 Fuzzy self-adaptive control method and system for single-link mechanical arm and storage medium
CN113406886B (en) * 2021-06-22 2022-07-08 广州大学 Fuzzy self-adaptive control method and system for single-link mechanical arm and storage medium
CN113359469A (en) * 2021-07-02 2021-09-07 西安邮电大学 Fixed time fault-tolerant control method of nonlinear system based on event triggering

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