CN109375511B - Anti-interference quantitative control model acquisition method and system, controller and control method - Google Patents

Anti-interference quantitative control model acquisition method and system, controller and control method Download PDF

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CN109375511B
CN109375511B CN201811378452.8A CN201811378452A CN109375511B CN 109375511 B CN109375511 B CN 109375511B CN 201811378452 A CN201811378452 A CN 201811378452A CN 109375511 B CN109375511 B CN 109375511B
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interference
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CN109375511A (en
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孙海滨
周羿彤
宗广灯
侯林林
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Nanjing Pride Technology Co ltd
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Qufu Normal University
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    • 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
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Abstract

An anti-interference quantitative control model obtaining method and system based on interference compensation, a controller and a control method are provided, a nonlinear system state space model containing multi-source interference and quantitative input is established, an extended state observer based on quantitative output is established, and a self-adaptive quantitative controller based on state and interference estimation is established.

Description

Anti-interference quantitative control model acquisition method and system, controller and control method
One, the technical field
The invention relates to an anti-interference quantitative control model acquisition method and system, a controller and a control method, in particular to an anti-interference quantitative control model acquisition method and system, a controller and a control method based on interference compensation.
Second, background Art
The research of the anti-interference control theory has become a hotspot and difficult problem of the modern control theory. In order to solve this problem, many interference rejection control methods such as H ∞ control, adaptive control, sliding mode control, and the like have been proposed. The above control methods all aim at suppressing interference, and these methods mainly achieve the purpose of suppressing interference through a feedback adjustment mode. In order to improve the control accuracy of the system, a corresponding mathematical model is established according to different characteristics of the interference, and the control aim is achieved by means of a control strategy of interference compensation and a control method of interference attenuation.
The application technical scheme is made based on technical statements of the applicant in 2018, 11, month and 5 and similar technical problems, technical characteristics and technical effects in the background technology obtained through retrieval.
Third, the invention
The object of the invention is to provide a method for acquiring an anti-interference quantitative control model based on interference compensation,
the object of the invention is an anti-interference quantitative control model acquisition system based on interference compensation,
the object of the invention is an interference-free quantization controller based on interference compensation,
the invention aims to provide an anti-interference quantitative control method based on interference compensation.
In order to overcome the technical defects, the invention aims to provide an anti-interference quantitative control model acquisition method and system, a controller and a control method based on interference compensation, so that the control precision of the system is improved, the anti-interference quantitative control model has the characteristic of strong anti-interference capability, and the application capability of the anti-interference control method in actual engineering is enhanced.
In order to achieve the purpose, the invention adopts the technical scheme that:
an anti-interference quantitative control model obtaining method based on interference compensation comprises the following steps:
establishing a nonlinear system state space model containing multi-source interference and quantitative input,
an extended state observer based on the quantized output is established,
an adaptive quantization controller based on state and interference estimation is established.
Due to the design of the steps, the method has the advantages of strong anti-interference performance, strong robustness to external interference, quantization errors and the like, is suitable for systems such as aircraft control and the like, improves the control precision of the systems, has the characteristic of strong anti-interference performance, and enhances the application capability of the anti-interference control method in actual engineering.
The invention designs a novel design of a novel water-soluble glass fiber,
the invention designs an operation state equation set established in a CPU, which comprises the following contents:
a nonlinear system sigma with multi-source interference and quantized input is:
Figure GDA0003189769270000021
wherein x (t) e Rn，u(t)∈Rm，d1(t)∈R，w(t)∈Rr，y(t)∈RpRespectively representing system state, control inputs, external disturbances and measurement outputs. A. the0∈Rn×n，B0∈Rn×m，C0∈Rp×p，D0∈Rn×r，G0∈Rp×m，F01∈Rp×q，F02∈Rp×qRepresenting a given system matrix, f01(x(t)，t)，f02(x (t), t) is a nonlinear function, and the following conditions are satisfied:
f0i(0，t)＝0，||f0i(x1(t)，t)-f0i(x2(t)，t)||≤ηi||x1(t)-x2(t)||，i＝1，2，
ηi0, unknown external interference d1(t) can be described as
Figure GDA0003189769270000022
Where W, H, V are matrices of suitable dimensions. The quantizer operator is defined as
Figure GDA0003189769270000023
Figure GDA0003189769270000024
Wherein the function
Figure GDA0003189769270000025
Represents μu＞0，μy> 0 denotes the quantization level, q (-) denotes a uniform quantizer with a fixed quantization level. The quantization error Δ u (t), Δ y (t) is defined as
Figure GDA0003189769270000026
Secondly, based on a state space model sigma and an interference model containing multi-source interference and quantized input, obtaining the following expansion system
Figure GDA0003189769270000031
Wherein
Figure GDA0003189769270000032
F2＝F02，f1(ζ(t)，t)＝f01(x(t)，t)，f2(ζ(t)，t)＝f02(x(t)，t).
The following extended state observer with quantized output is designed:
Figure GDA0003189769270000033
wherein
Figure GDA0003189769270000034
L is the gain of the observer,
thirdly, the controller is designed as
Figure GDA0003189769270000035
Where K is the controller gain and P > 0.
The invention designs an operation state equation set established in a CPU by taking an aircraft system as a model medium, which comprises the following contents:
firstly, multi-source interference andunder the action of quantitative input, building an aircraft system state space model sigma1Comprises the following steps:
Figure GDA0003189769270000036
wherein
Figure GDA0003189769270000037
u (t), w (t) respectively represent the state of the system, output, control input, external interference,
Figure GDA0003189769270000038
theta, psi denotes roll, pitch and yaw angles, omega, respectivelyx，ωy，ωzIndicating angular velocity, D1＝[01×4 -ω0 0]T，
Figure GDA0003189769270000039
Is the track frequency.
Figure GDA0003189769270000041
Figure GDA0003189769270000042
Figure GDA0003189769270000043
Ix，Iy，IzRepresenting three components of the inertia matrix.
Ix＝20kg·m2，Iy＝18kg·m2，Iz＝15kg·m2，
Unknown external interference d1(t) can be described as
Figure GDA0003189769270000044
Where ω (t) is the state variable,
Figure GDA0003189769270000045
V＝[25 0]，
Figure GDA0003189769270000046
II, according to the system sigma1Designing extended state observer with quantized output
Based on a state space model sigma and an interference model containing multi-source interference and quantized input, the following expansion system is obtained
Figure GDA0003189769270000047
Wherein
Figure GDA0003189769270000048
C＝[C0 G0V].
The following extended state observer with quantized output is designed:
state space model sigma based on multi-source interference and quantized input1The following extended state observer with quantized output is designed:
Figure GDA0003189769270000049
wherein
Figure GDA0003189769270000051
L is the gain of the observer,
thirdly, designing an adaptive controller with interference compensation capability by utilizing output of an observer
The controller is designed as
Figure GDA0003189769270000052
Where K is the controller gain and P > 0.
The invention designs an anti-interference quantitative control model acquisition system based on interference compensation, which comprises the following contents:
the nonlinear system state space model establishing unit 10 containing multi-source interference and quantitative input is used for obtaining an interference model and a nonlinear system model,
a quantized output based extended state observer building unit 20 for obtaining disturbance estimates and system states,
an adaptive quantization controller based on state and interference estimation building unit 30 for acting on the built nonlinear system.
The invention designs an anti-interference quantization controller based on interference compensation, which comprises the following contents: an interference compensation-based control model for interference rejection quantification is stored in the controller.
In this embodiment, the interference compensation based anti-interference quantization control model is obtained according to the interference compensation based anti-interference quantization control model obtaining method.
The invention designs an anti-interference quantitative control method based on interference compensation, which comprises the following contents:
and an anti-interference quantization controller based on interference compensation is applied in the CPU for control.
The invention has the technical effects that: in order to solve the problem of bandwidth constraint in practical application, quantization feedback control is extensively and deeply researched, because an actual system is usually subjected to influence of multi-source interference and quantization signals, the design problem of a controller with quantization input and output under the action of the multi-source interference is necessarily researched, aiming at a flying system which is subjected to the action of the multi-source interference, the input and the output, interference analysis and modeling are carried out, an expansion state observer utilizing the quantization output signals is designed, an anti-interference quantization controller is designed by utilizing the output value of the observer, the influence of the multi-source interference and the quantization errors on the system is eliminated, the control precision of the system is provided, and the anti-interference quantization control method enables the performance of the system to be greatly improved under the influence of the quantization errors and the interference.
Description of the drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a method for acquiring an interference-free quantization control model based on interference compensation according to the present invention,
fig. 2 is a schematic structural diagram of an interference-free quantization controller based on interference compensation according to the present invention.
Fifth, detailed description of the invention
Terms such as "having," "including," and "comprising," as used with respect to the present invention, are to be understood as not specifying the presence or addition of one or more other elements or combinations thereof, in accordance with the examination guidelines.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention is further described below with reference to the following examples, which are intended to illustrate the invention but not to limit it further.
An interference compensation-based method for acquiring an anti-interference quantization control model according to a first embodiment of the present invention includes:
step 100: establishing a nonlinear system state space model containing multi-source interference and quantitative input,
step 200: an extended state observer based on the quantized output is established,
wherein, estimating unknown states and modelable interference,
step 300: an adaptive quantization controller based on state and interference estimation is established,
in the present embodiment, the step 100 specifically includes the following contents:
the nonlinear system sigma with multi-source interference and quantized input is:
Figure GDA0003189769270000071
wherein x (t) e Rn，u(t)∈Rm，d1(t)∈R，w(t)∈Rr，y(t)∈RpRespectively representing system state, control inputs, external disturbances and measurement outputs. A. the0∈Rn×n，B0∈Rn×m，C0∈Rp×p，D0∈Rn×r，G0∈Rp×m，F01∈Rp×q，F02∈Rp×qRepresenting a given system matrix, f01(x(t)，t)，f02(x(t), t) is a nonlinear function, and the following conditions are satisfied:
f0i(0，t)＝0，||f0i(x1(t)，t)-f0i(x2(t)，t)||≤ηi||x1(t)-x2(t)||，i＝1，2，
ηi0, unknown external interference d1(t) can be described as
Figure GDA0003189769270000072
Where W, H, V are matrices of suitable dimensions. The quantizer operator is defined as
Figure GDA0003189769270000073
Figure GDA0003189769270000074
Wherein the function
Figure GDA0003189769270000075
Represents μu＞0，μy> 0 denotes the quantization level, q (-) denotes a uniform quantizer with a fixed quantization level. The quantization error Δ u (t), Δ y (t) is defined as
Figure GDA0003189769270000076
In this embodiment, the step 200 specifically includes the following contents:
based on a state space model sigma and an interference model containing multi-source interference and quantized input, the following expansion system is obtained
Figure GDA0003189769270000077
Wherein
Figure GDA0003189769270000081
C＝[C0 G0V]，F2＝F02，f1(ζ(t)，t)＝f01(x(t)，t)，f2(ζ(t)，t)＝f02(x(t)，t).
The following extended state observer with quantized output is designed:
Figure GDA0003189769270000082
wherein
Figure GDA0003189769270000083
L is the observer gain.
In this embodiment, the step 300 specifically includes the following contents:
the controller is designed as
Figure GDA0003189769270000084
Where K is the controller gain and P > 0.
An anti-interference quantitative control model acquisition system based on interference compensation comprises the following contents:
the nonlinear system state space model establishing unit 10 containing multi-source interference and quantitative input is used for obtaining an interference model and a nonlinear system model,
a quantized output based extended state observer building unit 20 for obtaining disturbance estimates and system states,
an adaptive quantization controller based on state and interference estimation building unit 30 for acting on the built nonlinear system.
An interference compensation based anti-interference quantization controller, comprising the following contents: an interference compensation based control model of interference rejection quantification is stored in the controller,
in the embodiment, the interference compensation based anti-interference quantization control model is obtained according to the above interference compensation based anti-interference quantization control model obtaining method,
step 100: establishing a nonlinear system state space model containing multi-source interference and quantitative input,
step 200: an extended state observer based on the quantized output is established,
wherein, estimating unknown states and modelable interference,
step 300: establishing an adaptive quantization controller based on state and interference estimation
An interference compensation based anti-interference quantization control method comprises the following contents:
and an anti-interference quantization controller based on interference compensation is applied in the CPU for control.
A method for obtaining an anti-interference quantization control model based on interference compensation, in a second embodiment of the present invention,
in an embodiment of the aircraft system:
firstly, under the action of multi-source interference and quantitative input of gust interference moment, a state space model sigma of an aircraft system is set up1Comprises the following steps:
Figure GDA0003189769270000091
wherein
Figure GDA0003189769270000092
u (t), w (t) respectively represent the state of the system, output, control input, external interference,
Figure GDA0003189769270000093
theta, psi denotes roll, pitch and yaw angles, omega, respectivelyx，ωy，ωzIndicating angular velocity, D1＝[01×4 -ω0 0]T，
Figure GDA0003189769270000094
Is a railThe track frequency.
Figure GDA0003189769270000095
Figure GDA0003189769270000098
Figure GDA0003189769270000096
Ix，Iy，IzRepresenting three components of the inertia matrix.
Ix＝20kg·m2，Iy＝18kg·m2，Iz＝15kg·m2，
Unknown external interference d1(t) can be described as
Figure GDA0003189769270000097
Where ω (t) is the state variable,
Figure GDA0003189769270000101
V＝[25 0]，
Figure GDA0003189769270000102
II, according to the system sigma1Designing extended state observer with quantized output
Based on a state space model sigma and an interference model containing multi-source interference and quantized input, the following expansion system is obtained
Figure GDA0003189769270000103
Wherein
Figure GDA0003189769270000104
C＝[C0 G0V].
The following extended state observer with quantized output is designed:
state space model sigma based on multi-source interference and quantized input1The following extended state observer with quantized output is designed:
Figure GDA0003189769270000105
wherein
Figure GDA0003189769270000106
L is the gain of the observer,
thirdly, designing an adaptive controller with interference compensation capability by utilizing output of an observer
The controller is designed as
Figure GDA0003189769270000107
Where K is the controller gain and P > 0.
The above embodiment is only one implementation form of the interference compensation-based anti-interference quantization control model acquisition method and system, the controller, and the control method provided by the present invention, and all of the method, the system, the controller, and the control method provided by the present invention belong to the protection scope of the present invention.

Claims (2)

1. An anti-interference quantitative control model acquisition method is characterized in that: the method comprises the following steps:
establishing a nonlinear system state space model containing multi-source interference and quantitative input,
an extended state observer based on the quantized output is established,
an adaptive quantization controller based on state and interference estimation is established,
establishing a nonlinear system state space model containing multi-source interference and quantitative input, comprising:
a nonlinear system with multi-source interference and quantized input Σ is:
Figure FDA0003244442450000011
wherein x (t) e Rn,u(t)∈Rm,d1(t)∈R,w(t)∈Rr,y(t)∈RpRespectively representing system state, control input, unknown external interference, external interference and measurement output,
A0∈Rn×n,B0∈Rn×m,C0∈Rp×p,D0∈Rn×r,G0∈Rp×m,F01∈Rp×q,F02∈Rp×qrepresenting a given system matrix, f01(x(t),t),f02(x (t), t) is a nonlinear function, and the following conditions are satisfied:
f0i(0,t)＝0,||f0i(x1(t),t)-f0i(x2(t),t)||≤ηi||x1(t)-x2(t)||,ηi＞0,i＝1,2,
unknown external interference d1(t) can be described as
Figure FDA0003244442450000012
Wherein delta (tau) is external additional unknown interference, omega (t) is state variable, W, H and V are matrixes with proper dimensions, and quantizer operator is defined as
Figure FDA0003244442450000013
Figure FDA0003244442450000014
Wherein the function
Figure FDA0003244442450000015
q (-) denotes a uniform quantizer with a fixed level of quantization, μu＞0,μy0 denotes the quantization level, the quantization error Δ u (t), Δ y (t) is defined as
Figure FDA0003244442450000016
Establishing a quantized output-based extended state observer, comprising:
based on a nonlinear system sigma sum interference model containing multi-source interference and quantitative input, the following expansion system is obtained
Figure FDA0003244442450000021
Wherein
Figure FDA0003244442450000022
F1＝[F01 0]T,
Figure FDA0003244442450000023
C＝[C0 G0V],F2＝F02,f1(ζ(t),t)＝f01(x(t),t),f2(ζ(t),t)＝f02(x(t),t),
The following extended state observer with quantized output is designed:
Figure FDA0003244442450000024
wherein
Figure FDA0003244442450000025
L is the gain of the observer,
establishing an adaptive quantization controller based on state and interference estimation, comprising:
the controller is designed as
Figure FDA0003244442450000026
Wherein K is the gain of the controller,
Figure FDA0003244442450000027
P>0。
2. a system using the acquisition method of anti-interference quantization control model of claim 1,
the nonlinear system state space model establishing unit 10 containing multi-source interference and quantitative input is used for obtaining an interference model and a nonlinear system model,
a quantized output based extended state observer building unit 20 for obtaining disturbance estimates and system states,
an adaptive quantization controller based on state and interference estimation building unit 30 for acting on the built nonlinear system.
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