CN109062029A - A kind of repetitive controller system and the control method for integrating anti-saturation - Google Patents
A kind of repetitive controller system and the control method for integrating anti-saturation Download PDFInfo
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Abstract
The invention discloses a kind of repetitive controller system and the methods for integrating anti-saturation, repetitive controller system therein includes: controller module, integrate anti-saturation module and controlled device, integrating anti-saturation module includes the first output end and second output terminal, first output terminates the input terminal of the repetitive controller system, second output terminal connects the input terminal of saturation nonlinearity function module, after the control- action compensation of second output terminal output is added the compensated control amount of composition with original control signal, connect the input terminal of saturation nonlinearity function module, the output of saturation nonlinearity function module terminates the input terminal of the controlled device, the output quantity compensation of first output end is added with original output signal constitutes the input terminal that new output signal feeds back to repetitive controller system, new output signal and reference signal form deviation as repetitive controller system Input.The present invention solves technical problem poor to the compensation effect of control amount saturation in the prior art.
Description
Technical field
The invention belongs to repetitive controller technical field more particularly to a kind of repetitive controller system and integrate anti-saturation
Method.
Background technique
Repetitive controller is the improper integral of cyclical signal, has more and more applications in industrial control field.It is controlling
During system, since actuator is saturated so that output quantity reaches amplitude limit value, but deviation is still without elimination, at this time due to Repetitive controller
The integral action of device, the operation of controller will continue to increase or reduce, but actuator is without corresponding actions, so that controller is defeated
It is actually entered out with controlled device, this phenomenon is known as integrating saturated phenomenon.Integral saturation meeting so that system overshoot becomes larger,
Increase transit time, closed loop response is deteriorated, and is unfavorable for the control and stabilization of system.When the controller application with integral characteristic in
When with the object for being saturated actuator, integral saturated phenomenon can be generated, output signal is made not track Setting signal, Repetitive controller
Device has always input error signal, and control amount is caused to add up always, it is difficult to be restored to linear region.
To improve system performance, need to be added suitable integral anti-saturation algorithm.Some scholars are to integral anti-saturation problem
It is studied, Galeani is inner anti-full traditional quadrature at " A tutorial on modern anti-windup design "
Be summarized as two major classes with method: direct line integral anti-saturation (Direct Linear Anti-Windup, DLAW) and model are extensive
Complex integral anti-saturation (Model Recovery Anti-Windup, MRAW).In the above method, DLAW method solves order height,
It can not necessarily solve, and MRAW method order is relatively low, solves simple.In addition, Ramos is in " Optimal anti-windup
Synthesis for repetitive controllers " a kind of minimum beat MRAW design method is proposed, but use most
Small bat estimation method may be without solution.Therefore, the compensation effect that existing method is saturated control amount is poor.
Summary of the invention
The present invention provides a kind of repetitive controller system and the methods for integrating anti-saturation, to solve or at least partly
Solve the technical problem poor to the compensation effect of control amount saturation in the prior art.
In order to solve the above-mentioned technical problem, first aspect present invention provides a kind of repetitive controller system, comprising: control
Device module processed, integral anti-saturation module and controlled device, the integral anti-saturation module include saturation nonlinearity function module with
Integrate anti-saturation compensating controller, wherein the original control signal of the controller module is calculated by error signal according to default control
Method obtains, and the error signal subtracts original output signal by reference signal and obtains, and the input terminal of the controller module is as institute
State the input terminal of repetitive controller system, the input terminal institute of the output termination integral anti-saturation module of the controller module
Stating integral anti-saturation module includes the first output end and second output terminal, and first output terminates the repetitive controller system
Input terminal, the second output terminal connects the input terminal of the saturation nonlinearity function module, the integral anti-saturation module
After the control- action compensation of the second output terminal output is added the compensated control amount of composition with the original control signal, connect described
The input terminal of saturation nonlinearity function module, the output of the saturation nonlinearity function module terminate the input of the controlled device
It holds, the output quantity compensation of first output end output of the integral anti-saturation module is added with original output signal to be constituted newly
Output signal feeds back to the input terminal of the repetitive controller system, and the new output signal and the reference signal are formed partially
Input of the difference as the repetitive controller system.
Optionally, the controller module includes: feedforward gain module and repetitive controller module, wherein the feedforward
Gain module and the Repetitive controller wired in parallel.
Optionally, the repetitive controller module includes, Repetitive controller coefficient, without phase offset low-pass filter and
Linear phase lead compensation module.
Optionally, the Repetitive controller coefficient is Krc, the low-pass filter without phase offset is Q (z)=a0z+
a1+a0/ z, the linear phase lead compensation module are Gf(z)=zp, the transmission function of the repetitive controller module are as follows:Wherein N is the ratio of signal sampling frequencies and original input signal frequency, round numbers, 2a0+a1=
1, lead compensation umber of beats
Based on same inventive concept, second aspect of the present invention provides a kind of based on Repetitive controller described in first aspect
The control method of the integral anti-saturation of device system, comprising:
After original control signal inputs the integral anti-saturation module, it is saturated by the saturation nonlinearity function module
The original control signal and saturation capacity control are subtracted each other and obtain control amount saturation deviation by control amount, wherein the former control
Signal is obtained by error signal according to pre-set control algorithm, and the error signal subtracts original output signal by reference signal and obtains,
It can get original output signal after the original control signal input controlled device；
After handling by the integral anti-saturation compensating controller control amount saturation deviation, control amount is obtained
Compensation and output quantity compensation；
The control- action compensation obtains compensated control amount after being added with the original control signal, wherein the compensation
Control amount afterwards is for compensating the original control signal；
The output quantity compensation feeds back to the repetition control after obtaining new output signal after being added with the original output signal
The input terminal of device system processed, wherein the new output signal and the reference signal form deviation as the Repetitive controller
The input of device system.
Optionally, the control- action compensation is based on obtaining after default optimal state feed-back control rule obtains feedback control coefficient
, wherein the default optimal state feed-back control rule is obtained by linearquadratic regulator LQR；
The output quantity compensation is obtained according to model object, wherein the model object includes: continuous state space equation
With separate manufacturing firms equation, the continuous state space equation are as follows:
Wherein, x is quantity of state, and u is control amount, and y is output quantity, and A is sytem matrix, indicates each state variable of internal system
Between association situation, B1For input matrix, influence of each input variable to each state variable is indicated, C is output matrix, reflection
Interactively between state variable and output variable；
The separate manufacturing firms equation after the continuous state space equation discretization by obtaining, the discrete state
Space equation are as follows:
Wherein, xk+1Indicate the quantity of state at k+1 moment, xkIndicate the quantity of state at k moment, ukIndicate the control amount at k moment, yk
Indicate the output quantity at k moment, AdFor the coefficient matrix after matrix A discretization, B1dFor matrix B1Coefficient matrix after discretization, Cd
For the coefficient matrix after Matrix C discretization.
Optionally, the saturation control amount obtained by the saturation nonlinearity function module, comprising:
It constructs saturation nonlinearity function sat (), wherein the saturation nonlinearity function are as follows:
Wherein,For the input signal of nonlinear function, uminFor the minimum value of input, umaxFor the maximum value of input；
The saturation control amount is obtained after handling by the nonlinear function the input signal.
Optionally, described that control amount saturation deviation is handled by the integral anti-saturation compensating controller
Afterwards, control- action compensation and output quantity compensation are obtained, comprising:
Construct the state equation Caw (z) of compensator, wherein the state equation Caw (z) are as follows:
Wherein, xawkFor the compensator state variable at k moment, xaw(k+1)For the compensator state at k+1 moment, u ' is control
Amount saturation deviation, ukFor original control signal,To be saturated control amount, variation coefficient matrix AdFor the coefficient square after matrix A discretization
Battle array, B1dFor matrix B1Coefficient matrix after discretization, CdFor the coefficient matrix after Matrix C discretization, K, L are coefficient.
The one or more technical solutions provided in the embodiment of the present invention, have at least the following technical effects or advantages:
Repetitive controller system provided in an embodiment of the present invention, by controller module may be implemented to reference signal with
Track and each harmonic are eliminated, and control amount caused by being obtained by saturation nonlinearity function module because of actuator saturation is saturated inclined
Difference, integral anti-saturation compensating controller are used to the saturation loss of reconfigurable control amount, respectively obtain control- action compensation and output quantity compensation,
To realize to the saturation compensation to control amount and output quantity.The control- action compensation obtained by integrating anti-saturation compensating controller
It is added with original control signal and constitutes compensated control amount, output quantity compensation is added with original output signal constitutes new output signal
Input terminal is fed back, and reference signal forms input of the deviation as repetitive controller system.It can be constructed according to controlled device
Anti-saturation module is integrated, so that the system being added after integral anti-saturation compensating controller and saturation nonlinearity function module is from defeated
Enter the linear time invariant system not influenced to output by actuator saturation, it is more direct to the compensation of control amount saturation, so mention
The high compensation effect to control amount saturation.It solves the poor technology of compensation effect that existing method is saturated control amount to ask
Topic.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is the integral anti-saturation strategy block diagram of repetitive controller system in the embodiment of the present invention；
Fig. 2 is the flow chart that anti-saturation method is integrated in the embodiment of the present invention；
Fig. 3 is the structure chart of repetitive controller module in the embodiment of the present invention；
Fig. 4 is the structure chart of ratio repetitive controller in the embodiment of the present invention.
Specific embodiment
It is in the prior art to improve the present invention provides a kind of repetitive controller system and the method for integrating anti-saturation
The technical problem poor to the compensation effect of control amount saturation.
Technical solution in the embodiment of the present application, general thought are as follows:
A kind of repetitive controller system is provided, which includes controller module, integral anti-saturation module
And controlled device, integral anti-saturation module include saturation nonlinearity function module and integral anti-saturation compensating controller, wherein institute
The original control signal for stating controller module is obtained by error signal according to pre-set control algorithm, and the error signal is by reference signal
Original output signal acquisition is subtracted, input terminal of the input terminal of the controller module as the repetitive controller system is described
The input terminal of the output termination integral anti-saturation module of controller module, the integral anti-saturation module include the first output
End and second output terminal, first output terminate the input terminal of the repetitive controller system, and the second output terminal meets institute
State the input terminal of saturation nonlinearity function module, the control- action compensation of the second end output of the integral anti-saturation module with
After the original control signal is added the compensated control amount of composition, the input terminal of the saturation nonlinearity function module is connect, it is described
The output of saturation nonlinearity function module terminates the input terminal of the controlled device, described to integrate described the first of anti-saturation module
The output quantity compensation of end output is added the new output signal of composition with original output signal and feeds back to the repetitive controller system
Input terminal, the new output signal and the reference signal form input of the deviation as the repetitive controller system.
Above-mentioned repetitive controller system provided by the invention can construct integral anti-saturation module according to controlled device, make
Must be added integral anti-saturation compensating controller and saturation nonlinearity function module after system be from be input to output do not executed
The linear time invariant system that device saturation influences, it is more direct to the compensation of control amount saturation, control amount is saturated so improving
Compensation effect.Solves the poor technical problem of compensation effect that existing method is saturated control amount.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
A kind of repetitive controller system is present embodiments provided, referring to FIG. 1, the repetitive controller system includes:
Controller module 100, integral anti-saturation module 200 and controlled device 300, the integral anti-saturation module 200 are wrapped
Include saturation nonlinearity function module sat () and integral anti-saturation compensating controller Caw(z), the former control of the controller module
Signal ukIt is obtained by error signal according to pre-set control algorithm, the error signal is by reference signal rkSubtract original output signal yk
It obtains, controlled device 300 is Gp (z), dkFor disturbing signal.
Wherein, input terminal of the input terminal of controller module as repetitive controller system, the controller module it is defeated
The input terminal of the integral anti-saturation module is terminated out, and integral anti-saturation module includes the first output end and second output terminal, institute
The input terminal that the first output terminates the repetitive controller system is stated, the second output terminal connects the saturation nonlinearity Function Modules
The input terminal of block, the control- action compensation v of integral anti-saturation module output1kWith original control signal ukIt is added and constitutes compensated control
Amount processedThe input terminal of saturation nonlinearity function module sat () is connect, the output of saturation nonlinearity function module terminates controlled device
Input terminal, integral anti-saturation module output output quantity compensate v2kWith original output signal ykIt is added and constitutes new output signal ylk
Feed back to the input terminal of repetitive controller system, new output signal ylkWith reference signal rkForm deviation ekAs Repetitive controller
The input of device system.
Specifically, repetitive controller includes controller module in the prior art, does not include integral anti-saturation module, then
The output of controller module, that is, original control signal ukIt can be obtained according to error signal, and error signal is by reference signal rkIt subtracts
Former output signal output ykIt obtains.That is, the output of controller is typically all to obtain according to error calculation, one is constituted in this way
A negative-feedback, so that output can keep up with input signal (also referred to as Setting signal, reference signal) always.
Repetitive controller system provided in an embodiment of the present invention and integral anti-saturation method, in existing repetitive controller structure
Integral anti-saturation module is increased on the basis of (controller module of the invention), integral anti-saturation module includes saturation nonlinearity
Function module sat () and integral anti-saturation compensating controller Caw(), saturation nonlinearity function module can be obtained because actuator is full
Deviation is saturated with caused control amount.
In the specific implementation process, saturation control amount can be obtained by saturation nonlinearity function moduleThen will
Original control signal and saturation capacity control, which are subtracted each other, obtains control amount saturation deviation u 'k.Integral anti-saturation compensating controller is used to reconstruct
Control amount saturation loss, respectively obtains control- action compensation and output quantity compensation, to realize the saturation to control amount and output quantity
Compensation.Specifically, structure can be added with original control signal by integrating the control- action compensation that anti-saturation compensating controller obtains
At compensated control amountOutput quantity compensation is added the new output signal of composition with original output signal and feeds back to input terminal, with
Reference signal rkForm deviation ekInput as repetitive controller system.
The integral anti-saturation module being introduced into is inserted into traditional controller module by the embodiment of the present invention, can effectively be pressed down
System integral saturation, the quick and precisely tracking to reference signal can be realized when moving back saturation, and reach and improve entire repetitive controller
The technical effect of the dynamic response performance of system.
As a kind of optional embodiment, in repetitive controller system provided in an embodiment of the present invention, controller module packet
It includes: feedforward gain module and repetitive controller module, wherein feedforward gain module and Repetitive controller wired in parallel.
Specifically, refer to Fig. 4, r (z) is the reference signal (input signal) of control bit module, e (z) be e (z)=
R (z)-y (z) is tracking error, and u (z) is the control signal of control bit module, and d (z) is the disturbing signal of control bit module, y
It (z) is the output signal of controller module, GpIt (z) is control object, KpWherein for proportional component, y (z) is as shown in formula (8):
Wherein, Go(z)=Gp(z).[1+Kp·Gp(z)]-1, system stabilization need to meet following two condition:
1) closed-loop system is stable when repetitive controller is not added, i.e. G0(z) all poles are in unit circle；
2)1-{[1-krczpGo(z)]Q(z)}z-N=0 characteristic root is in unit circle.It can thus be concluded that make system it is stable one
A adequate condition, it may be assumed that
| A (z) |=| [1-krczpGo(z)] Q (z) | < 1
Wherein,
When designing repetitive controller, suitable krc, Q (z) are chosen, p meets two above condition, thereby may be ensured that
Entire control system is stable.
Since individual repetitive controller module works have the delay of a primitive period, by repetitive controller module
Transmission function and forward gain wired in parallel may be constructed ratio repetitive controller (the feedforward gain module i.e. in the present invention), from
And it can be further improved the response performance of system.
As a kind of optional embodiment, Fig. 3 is referred to, in repetitive controller system provided in an embodiment of the present invention, weight
Multiple controller module includes: Repetitive controller COEFFICIENT Krc, without phase offset low-pass filter Q (z) and linear phase mend in advance
Repay module Gf(z)。
Specifically, e (z) is the error signal for repeating control bit module, and u (rc) is the output letter for repeating control bit module
Number, Repetitive controller can inhibit PERIODIC INTERFERENCE, and the performance of repetitive controller system can be improved in low-pass filter.
Specifically, in repetitive controller system provided in an embodiment of the present invention, Repetitive controller coefficient is Krc, without phase
The low-pass filter of offset is Q (z)=a0z+a1+a0/ z, linear phase lead compensation module are Gf(z)=zp, repetitive controller
The transmission function of module are as follows:Wherein N is the ratio of signal sampling frequencies and original input signal frequency
Value, round numbers, 2a0+a1=1, lead compensation umber of beatsTake positive integer.
Based on inventive concept same as embodiment one, the present invention also provides a kind of based on repetition control described in embodiment
The control method of the integral anti-saturation of device system processed, referring specifically to embodiment two.
Embodiment two
Fig. 2 is referred to, a kind of control of integral anti-saturation based on controller described in embodiment one is present embodiments provided
Method processed, this method comprises:
Step S101: after original control signal inputs the integral anti-saturation module, pass through the saturation nonlinearity Function Modules
Block obtains saturation control amount, and the original control signal and saturation capacity control are subtracted each other and obtain control amount saturation deviation, wherein
The original control signal is obtained by error signal according to pre-set control algorithm, and the error signal subtracts former output by reference signal
Signal obtains, and can get original output signal after the original control signal input controlled device；
Step S102: after being handled by the integral anti-saturation compensating controller control amount saturation deviation,
Obtain control- action compensation and output quantity compensation；
Step S103: the control- action compensation obtains compensated control amount after being added with the original control signal, wherein
The compensated control amount is for compensating the original control signal；
Step S104: the output quantity compensation feeds back to institute after obtaining new output signal after being added with the original output signal
State the input terminal of repetitive controller system, wherein the new output signal and the reference signal are formed described in deviation conduct
The input of repetitive controller system.
Specifically, deviation can be saturated to control amount by the state equation of building integral anti-saturation compensating controller
After being handled, control- action compensation and output quantity compensation are obtained.Saturation control can be obtained by constructing saturation nonlinearity function
Amount.
As a kind of optional embodiment, in method provided in this embodiment, the control- action compensation is based on presetting optimal
STATE FEEDBACK CONTROL rule obtains after obtaining feedback control coefficient, wherein the default optimal state feed-back control rule is by line
Property quadratic form adjuster LQR obtain；
The output quantity compensation is obtained according to model object, wherein the model object includes: continuous state space equation
With separate manufacturing firms equation, the continuous state space equation are as follows:
Wherein, x is quantity of state, and u is control amount, and y is output quantity, and A is sytem matrix, indicates each state variable of internal system
Between association situation, B1For input matrix, influence of each input variable to each state variable is indicated, C is output matrix, reflection
Interactively between state variable and output variable；
The separate manufacturing firms equation after the continuous state space equation discretization by obtaining, the discrete state
Space equation are as follows:
Wherein, xk+1Indicate the quantity of state at k+1 moment, xkIndicate the quantity of state at k moment, ukIndicate the control amount at k moment, yk
Indicate the output quantity at k moment, AdFor the coefficient matrix after matrix A discretization, B1dFor matrix B1Coefficient matrix after discretization, Cd
For the coefficient matrix after Matrix C discretization.
It is described to pass through the saturation nonlinearity function in method provided in this embodiment as a kind of optional embodiment
The saturation control amount that module obtains, comprising:
It constructs saturation nonlinearity function sat (), wherein the saturation nonlinearity function are as follows:
Wherein,For the input signal of nonlinear function, uminFor the minimum value of input, umaxFor the maximum value of input；
The saturation control amount is obtained after handling by the nonlinear function the input signal.
As a kind of optional embodiment, in method provided in this embodiment, described to be compensated by the integral anti-saturation
After controller handles control amount saturation deviation, control- action compensation and output quantity compensation are obtained, comprising:
The state equation Caw (z) of building integral anti-saturation compensating controller, wherein the state equation Caw (z) are as follows:
Wherein, xawkFor the compensator state variable at k moment, xaw(k+1)For the compensator state at k+1 moment, u ' is control
Amount saturation deviation, ukFor original control signal,To be saturated control amount, variation coefficient matrix AdFor the coefficient square after matrix A discretization
Battle array, B1dFor matrix B1Coefficient matrix after discretization, CdFor the coefficient matrix after Matrix C discretization, K, L are coefficient.
In order to illustrate more clearly of the beneficial effect of the method for integral anti-saturation provided by the invention, have below by one
The example of body is explained, and saturation nonlinearity function module is used for the output violent change to control amount, obtains control amount saturation deviation.
Control- action compensation v1kControl amount saturation deviation can be introduced to compensate control amount, output quantity compensation rate v2kFor measuring not
The deviation of the ideal output and reality output that there is actuator to be saturated, output quantity compensation rate v2kBe added with original output signal to be formed it is new
The input terminal of the repetitive controller system is fed back to after output signal, wherein the new output signal and the reference are believed
Number form input of the deviation as the repetitive controller system.
Specifically, compensated control amount isIt is y with compensated output quantitylk(i.e. new output signal), passes through
The state equation of building integral anti-saturation compensator Caw (z):
Wherein, xawkFor compensator state variable, coefficient matrices Ad、B1d、CdIdentical with formula (2), K, L are ginseng to be designed
Number.For convenient for the system progress comprehensive analysis after addition compensator, definition status variable xlk=xk+xawk, export ylk=yk+
v2k, overall status equation is added to obtain with (4) by formula (2):
Formula (5) is identical with continuous state space equation (1) pattern of control object, from input ukTo output ylkIt is considered as
One linear time invariant system not influenced by actuator saturation, i.e. ukAnd ylkFor ideal linearity variable.Make not having for design
Actuator saturation closed-loop system be it is stable, need to guarantee in attached drawing 1, saturation nonlinearity function module and integral anti-saturation
The coupling part of compensating controller, i.e. integral anti-saturation module are stable, so that it is guaranteed that the stability of whole system.Specific
Implementation process in, can derive following theorem:
Anti-saturation closed-loop system is then integrated so that MATRIX INEQUALITIES 6 is set up if there is K, L and positive definite symmetric matrices P, W
It is stable.
Variable in integral anti-saturation compensating controller can so be chosen and carry out performance optimization:
Linear-Quadratic Problem performance indicator is chosen to be shown below:
Wherein, J is used for restorability when optimization system moves back saturation.Q is the state weighting coefficient matrix of positive definite, and R is positive
Fixed control weighting coefficient matrix.First item is indicated to state x on the right of expression formula JawkRequirement, this is smaller, then state decay
Speed to zero is faster, and oscillation is smaller, and control performance is also better；Section 2 is the limitation to control energy, the speed of state decaying
Degree is faster, and the control energy for needing to consume is bigger, is one group of contradiction therebetween, and index J is used to be balanced optimization.According to most
Excellent state feedback control law design solves K, it is ensured that J value is minimum after selected Q and R.After solving K, Z=WL is enabled, then (formula
6) it is considered as the linear matrix inequality using P, W, Z as matrix variables, can very easily be solved with MATLAB, obtain L=W- 1Z.From the foregoing, integral anti-saturation method provided in an embodiment of the present invention may be implemented to the effect for improving integral anti-saturation
The one or more technical solutions provided in the embodiment of the present invention, have at least the following technical effects or advantages:
Repetitive controller system provided in an embodiment of the present invention, by controller module may be implemented to reference signal with
Track and each harmonic are eliminated, control amount saturation deviation caused by saturation nonlinearity function module can be obtained because of actuator saturation,
It integrates anti-saturation compensating controller and is used to the saturation loss of reconfigurable control amount, respectively obtain control- action compensation and output quantity compensation, from
And it realizes to the saturation compensation to control amount and output quantity.By integrate the obtained control- action compensation of anti-saturation compensating controller with
Original control signal, which is added, constitutes compensated control amount, and it is anti-that output quantity compensation is added the new output signal of composition with original output signal
It is fed to input terminal, and reference signal forms input of the deviation as repetitive controller system.It can be constructed and be accumulated according to controlled device
Divide anti-saturation module, so that the system being added after integral anti-saturation compensating controller and saturation nonlinearity function module is from input
The linear time invariant system not influenced to output by actuator saturation, it is more direct to the compensation of control amount saturation, so improve
To the compensation effect of control amount saturation.It solves the poor technology of compensation effect that existing method is saturated control amount to ask
Topic.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, those skilled in the art can carry out various modification and variations without departing from this hair to the embodiment of the present invention
The spirit and scope of bright embodiment.In this way, if these modifications and variations of the embodiment of the present invention belong to the claims in the present invention
And its within the scope of equivalent technologies, then the present invention is also intended to include these modifications and variations.
Claims (8)
1. a kind of repetitive controller system characterized by comprising controller module, integral anti-saturation module and controlled device,
The integral anti-saturation module includes saturation nonlinearity function module and integral anti-saturation compensating controller, the controller module
Original control signal obtained by error signal according to pre-set control algorithm, the error signal subtracts former output letter by reference signal
Number obtain, input terminal of the input terminal of the controller module as the repetitive controller system, the controller module
The input terminal of the output termination integral anti-saturation module, the integral anti-saturation module include the first output end and the second output
End, first output terminate the input terminal of the repetitive controller system, and the second output terminal connects the saturation nonlinearity
The input terminal of function module, wherein the control- action compensation of the second output terminal output of the integral anti-saturation module and institute
After stating the compensated control amount of original control signal addition composition, the input terminal of the saturation nonlinearity function module is connect, it is described full
The input terminal of the controlled device is terminated with the output of nonlinear function module, described the first of the integral anti-saturation module is defeated
The output quantity compensation of outlet output is added the new output signal of composition with original output signal and feeds back to the repetitive controller system
Input terminal, the new output signal and the reference signal form input of the deviation as the repetitive controller system.
2. repetitive controller system as described in claim 1, which is characterized in that the controller module includes: feedforward gain
Module and repetitive controller module, wherein the feedforward gain module and the repetitive controller wired in parallel.
3. repetitive controller system as claimed in claim 2, which is characterized in that the repetitive controller module includes repeating
Control coefrficient, low-pass filter and linear phase lead compensation module without phase offset.
4. repetitive controller system as claimed in claim 3, which is characterized in that the coefficient of the repetitive controller module is
Krc, the low-pass filter without phase offset is Q (z)=a0z+a1+a0/ z, the linear phase lead compensation module are
Gf(z)=zp, the transmission function of the repetitive controller module are as follows:Wherein N is signal sampling frequency
The ratio of rate and original input signal frequency, round numbers, 2a0+a1=1, lead compensation umber of beats
5. a kind of control method of the integral anti-saturation based on the described in any item controllers of claim 1-4, which is characterized in that
Include:
After original control signal inputs the integral anti-saturation module, saturation control is obtained by the saturation nonlinearity function module
The original control signal and saturation capacity control are subtracted each other and obtain control amount saturation deviation, wherein the original control signal by amount
It is obtained by error signal according to pre-set control algorithm, the error signal subtracts original output signal by reference signal and obtains, described
Original control signal can get original output signal after inputting controlled device；
After handling by the integral anti-saturation compensating controller control amount saturation deviation, control- action compensation is obtained
It is compensated with output quantity；
The control- action compensation obtains compensated control amount after being added with the original control signal, wherein described compensated
Control amount is for compensating the original control signal；
The output quantity compensation feeds back to the Repetitive controller after obtaining new output signal after being added with the original output signal
The input terminal of device system, wherein the new output signal and the reference signal form deviation as the repetitive controller
The input of system.
6. method as claimed in claim 5, which is characterized in that the control- action compensation is based on default optimal state feed-back control
Rule obtains after obtaining feedback control coefficient, wherein the default optimal state feed-back control rule is adjusted by Linear-Quadratic Problem
Device LQR is obtained；
Output quantity compensation is obtained according to model object, wherein the model object include: continuous state space equation and from
Dissipate state space equation, the continuous state space equation are as follows:
Wherein, x is quantity of state, and u is control amount, and y is output quantity, and A is sytem matrix, is indicated between each state variable of internal system
Association situation, B1For input matrix, influence of each input variable to each state variable is indicated, C is output matrix, reflects state
Interactively between variable and output variable；
The separate manufacturing firms equation after the continuous state space equation discretization by obtaining, the separate manufacturing firms
Equation are as follows:
Wherein, xk+1Indicate the quantity of state at k+1 moment, xkIndicate the quantity of state at k moment, ukIndicate the control amount at k moment, ykIt indicates
The output quantity at k moment, AdFor the coefficient matrix after matrix A discretization, B1dFor matrix B1Coefficient matrix after discretization, CdFor square
Coefficient matrix after battle array C discretization.
7. method as claimed in claim 5, which is characterized in that described to be satisfied by what the saturation nonlinearity function module obtained
And control amount, comprising:
It constructs saturation nonlinearity function sat (), wherein the saturation nonlinearity function are as follows:
Wherein,For the input signal of nonlinear function, uminFor the minimum value of input, umaxFor the maximum value of input；
The saturation control amount is obtained after handling by the nonlinear function the input signal.
8. method as claimed in claim 6, which is characterized in that it is described by the integral anti-saturation compensating controller to described
After control amount saturation deviation is handled, control- action compensation and output quantity compensation are obtained, comprising:
Construct the state equation Caw (z) of compensator, wherein the state equation Caw (z) are as follows:
Wherein, xawkFor the compensator state variable at k moment, xaw(k+1)For the compensator state at k+1 moment, u ' is control amount saturation
Deviation, ukFor original control signal,To be saturated control amount, variation coefficient matrix AdFor the coefficient matrix after matrix A discretization, B1d
For matrix B1Coefficient matrix after discretization, CdFor the coefficient matrix after Matrix C discretization, K, L are coefficient.
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| CN111766780A (en) * | 2020-04-16 | 2020-10-13 | 大连空天动力控制系统有限公司 | Design method of anti-saturation controller of open-loop stable limited system |
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| CN111624870B (en) * | 2020-06-30 | 2023-10-03 | 中国科学院微电子研究所 | Inversion anti-integral saturation method for precise motion control |
| CN111624870A (en) * | 2020-06-30 | 2020-09-04 | 中国科学院微电子研究所 | Inversion anti-integral saturation method for precise motion control |
| CN112039374A (en) * | 2020-08-05 | 2020-12-04 | 青岛大学 | Permanent magnet synchronous motor command filtering discrete control method considering input saturation |
| CN113495485A (en) * | 2021-07-22 | 2021-10-12 | 中国船舶重工集团公司第七一一研究所 | Anti-saturation control method of active control system and active control system |
| CN113495485B (en) * | 2021-07-22 | 2022-11-01 | 中国船舶集团有限公司第七一一研究所 | Anti-saturation control method of active control system and active control system |
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| CN114911165B (en) * | 2022-05-09 | 2024-06-04 | 北京航空航天大学 | Anti-saturation control method and device for test bed of aviation propulsion system |
| CN115016250A (en) * | 2022-05-27 | 2022-09-06 | 华中科技大学 | Servo speed control method of improved anti-saturation structure |
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