CN109507883A - A kind of assembly spacecraft attitude model-free adaptive controller parameter tuning method - Google Patents
A kind of assembly spacecraft attitude model-free adaptive controller parameter tuning method Download PDFInfo
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- CN109507883A CN109507883A CN201811420754.7A CN201811420754A CN109507883A CN 109507883 A CN109507883 A CN 109507883A CN 201811420754 A CN201811420754 A CN 201811420754A CN 109507883 A CN109507883 A CN 109507883A
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- 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
The invention discloses a kind of assembly spacecraft attitude model-free adaptive controller parameter tuning methods, comprise the following steps: S1 designs corresponding full format model-free adaptive controller for the attitude motion process of general assembly spacecraft；S2 chooses several reference inputs for controller parameter performance indicator, completes one group of closed-loop experiment；S3, using closed-loop experiment as a result, the controller parameter value of iterative calculation optimization.The Non-Model Controller for typical time Discrete-time Nonlinear Systems is established for the present invention, for the controller parameter in Non-Model Controller, it takes improved Iterative feedback tuning method and carries out parameter tuning, the autonomous completion ability and controller for improving Spacecraft Attitude Control control precision.
Description
Technical field
The present invention relates to assembly Spacecraft Control method field, in particular to a kind of assembly spacecraft attitude model-free
Adaptive controller parameter tuning method.
Background technique
Spacecraft, which is arrested, will constitute assembly spacecraft after noncooperative target, due to noncooperative target digital-to-analogue model not
Know, therefore, it is difficult to determine assembly spacecraft overall model.Since there may be in angular speed and capture process for noncooperative target
Percussion, the posture of assembly spacecraft needs to carry out stability contorting.
Model-free adaptive controller, which has, does not need controll plant Accurate Model, merely with control process input and output number
The characteristics of according to dynamic modeling and control can be carried out, it is suitable for assembly Spacecraft Attitude Control process.But model-free adaption
Controller parameter has larger impact to control performance, and initial value needs technical staff to give by rule of thumb.
Summary of the invention
The object of the present invention is to provide a kind of assembly spacecraft attitude model-free adaptive controller parameter tuning method,
The assembly spacecraft that capture space non-cooperative target is formed is overcome to be difficult to determine parameter, model-free adaptive controller parameter
Initial value is difficult to the problem of debugging, it is determined that a kind of full format model-free adaptive controller of assembly gesture stability devises
Performance parameters index devises one group of closed-loop experiment for the performance index function of minimum to acquire the controller of optimization ginseng
Number vector utilizes iteration setting method successive optimization controller parameter vector.The parameter tuning method does not need with controller
Any model parameter information of controlled system, improves the attitude determination accuracy of flexible spacecraft motion simulator.
In order to achieve the goal above, the present invention is achieved by the following technical solutions:
A kind of assembly spacecraft attitude MFA control method, comprises the following steps:
S1 designs corresponding full format MFA control for the attitude motion process of general assembly spacecraft
Device；
S2 chooses several reference inputs for controller parameter performance indicator, and it is real to complete one group of closed loop
S3, using closed-loop experiment as a result, the controller parameter value of calculation optimization.
Further, full format dynamic equivalence linear data model in the step S1 are as follows:
The incremental form of symbol Δ expression variable, i.e. Δ y (k+1)=y (k+1)-y (k), For one in [k-Lu+ 1, k] all controls in the moment are defeated
Enter signal and in [k-Ly+ 1, k] in the moment all system output signals composition vector, it may be assumed that
Lu, LyThe referred to as pseudo- order of system, u (k) indicate that system is inputted in the control at k moment, and y (k) indicates system in k
The output at quarter,Referred to as pseudo- gradient vector,It indicates
Transposition.
Controller in the step S1 are as follows:
Wherein,For controller parameter, yrFor the desired output of system, controller design problem at this time
It is converted into optimal controller parameter vectorThe problem of.
Closed-loop experiment method described in the step S2 is, firstly, with one group of reference signal yrInput system obtains
One group of input, output signal, are denoted as { y0(k),u0(k),yr(k)}。
Then, it calculates
It obtains
1/T is filter in formula, usually takes 1, κη(η=1 ... Ly+Lu+ 2) it appropriately to choose to guarantee these yη(k+1)(η
=1 ... Ly+Lu+ 2) as close possible to yr。
The y that will be acquiredη(η=1 ... Ly+Lu+ 2) difference input system carries out Ly+Lu+ 2 closed-loop experiment time closed-loop experiments,
Obtain y (k) (η=1 ... Ly+Lu+2)。
Optimal controller calculation method of parameters in the step S3 is, first, in accordance with
y'η=(yη-y0)/κη(η=1 ... Ly+Lu+2)
Y'(ρ is calculated), then bring formula into
It obtainsAdjusting matrix R appropriate is chosen according to Gauss-Newton iterative method, by formula
Iterative Optimal Control device parameter.
Compared with prior art, the present invention having the advantage that
The present invention provides assembly spacecraft attitude model-free adaptive controller parameter tuning methods, overcome capture
The assembly spacecraft that space non-cooperative target is formed is difficult to determine parameter, and model-free adaptive controller initial parameter values are difficult to adjust
The problem of examination, has determined a kind of full format model-free adaptive controller of assembly gesture stability, devises performance parameters and refers to
Mark devises one group of closed-loop experiment to acquire the controller parameter vector of optimization, utilizes for the performance index function of minimum
Iteration setting method successive optimization controller parameter vector.It is any that the parameter tuning method does not need controlled system with controller
Model parameter information improves the attitude determination accuracy of flexible spacecraft motion simulator.
Detailed description of the invention
Fig. 1 is a kind of flow chart of assembly spacecraft attitude MFA control method of the present invention.
Specific embodiment
The present invention is further elaborated by the way that a preferable specific embodiment is described in detail below in conjunction with attached drawing.
A kind of assembly spacecraft attitude MFA control method, comprises the following steps:
S1 designs corresponding full format MFA control for the attitude motion process of general assembly spacecraft
Device；
S2 chooses several reference inputs for controller parameter performance indicator, and it is real to complete one group of closed loop
S3, using closed-loop experiment as a result, the controller parameter value of calculation optimization；
S1, it is assumed that by taking a certain axial gesture stability problem of assembly spacecraft as an example, then controlled system is a single input
The nonlinear system singly exported, generally takes the attitude angle of spacecraft and attitude angular velocity is system mode, and control moment is control
Input, and the attitude angle of spacecraft and angular speed are that controlled variable or system export.If x is enabled to indicate system mode, u indicates system
Control input, y indicate system output, then its equation can be described as:
Y (k+1)=f (x (k), u (k)) (1.1)
DefinitionFor one in [k-Lu+ 1, k] all control input signals in the moment in [k-Ly+ 1, k] when
The vector of all system output signals composition in quarter, it may be assumed that
Wherein positive integer Lu, LyThe referred to as pseudo- order of system takes L in this example respectivelyu=2, Ly=1.
The system indicated (1.1) formula does following hypothesis:
Assuming that there is continuous partial derivative to the component of each variable in 1:f.
Assuming that 2: system (1.1) meets generalized Lipschitz condition, i.e., to any k1≠k2, k1,k2>=0 and u (k1)≠u
(k2) have
The constant that b is positive in formula.
If system (1.1) meets above-mentioned it is assumed that working asWhen, then it certainly exists one and is referred to as pseudo- ladder
The time-varying parameter vector of degreeSo that system (1.1) can be converted into following full format dynamical linearization model:
And to any time k,It is bounded.
According to MFA control theory, one step of following weighting controller forward is designed
Wherein,For controller parameter vector, taken in the present embodiment ρ=[0.5,0.5,
0.57,0.5]T, yrFor the desired output of system, controller design problem is converted into optimal controller parameter vector at this timeThe problem of.
S2, the purpose for the controller (1.4) in S1, control is exactly adjusting parameter vector
Meet following performance indicator:
Wherein, λ is the punishment to control signal, can be with the part of uncontrolled signal in usual performance indicator.To performance
Index (1.5) is minimized, and is omitted control signal section, is obtained
To acquire y'(ρi), y'(ρ is obtained merely with system inputoutput data using one kindi) method.Firstly, with one
Group reference signal yrInput system obtains one group of input, output signal, is denoted as { y0(k),u0(k),yr(k)}。
Then, g ({ y is calculated0,yr})'
It obtains
T takes 1, κ in formulaη(η=1 ... Ly+Lu+ 2) it appropriately to choose to guarantee these yη(k+1) (η=1 ... Ly+Lu+ 2) to the greatest extent
It may be close to yr, κ is taken in this exampleη=0.01.
The y that will be acquiredη(η=1 ... Ly+Lu+ 2) difference input system carries out Ly+Lu+ 2 closed-loop experiment time closed-loop experiments,
Obtain y (k) (η=1 ... Ly+Lu+2)。
S3 utilizes the resulting y (k) of step S2 closed-loop experiment (η=1 ... Ly+Lu+ 2), first, in accordance with
y'η=(yη-y0)/κη(η=1 ... Ly+Lu+2) (1.9)
Y'(ρ is calculated), then bring formula into
It obtainsAdjusting matrix R appropriate is chosen according to Gauss-Newton iterative method, by formula
Iteration updates optimal controller parameter.
According to above-mentioned principle, a kind of assembly spacecraft model-free adaptive controller parameter tuning side provided by the invention
Method presses following sequential working: the first step within a duty cycle, by initial reference input signal yrInput system completes first
Secondary test obtains track { y0(k),u0(k),yr(k)}；Second step calculates g ({ y according to system inputoutput data0,yr) ',
The reference-input signal tested according to (1.8) formula calculated for subsequentThird step, willInput system does closed-loop experiment respectively, obtains y1(k)~yL(k), by formula y'η=(yη-y0)/
κη(η=1 ... Ly+Lu+ 2) y'(ρ is calculated)；4th step, brings formula intoIt obtains5th step chooses adjusting matrix R appropriate according to Gauss-Newton iterative method, by formula
Iteration updates optimal controller parameter.
The present invention devises controller using the inputoutput data of controlled system using Iterative feedback tuning method
Energy index has acquired y'(ρ in the case where not needing system mathematic model by one group of closed-loop experiment), and then realize control
The adjusting of device parameter vector processed.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (4)
1. a kind of assembly spacecraft attitude model-free adaptive controller parameter tuning method, which is characterized in that comprising as follows
Step:
S1 designs corresponding full format model-free adaptive controller for the attitude motion process of general assembly spacecraft；
S2 chooses several reference inputs for controller parameter performance indicator, completes one group of closed-loop experiment；
S3, using closed-loop experiment as a result, the controller parameter value of calculation optimization.
2. a kind of assembly spacecraft attitude model-free adaptive controller parameter tuning method as described in claim 1,
It is characterized in that, full format dynamic equivalence linear data model in the step S1 are as follows:
The incremental form of symbol Δ expression variable, i.e. Δ y (k+1)=y (k+1)-y (k), For one in [k-Lu+ 1, k] all controls in the moment are defeated
Enter signal and in [k-Ly+ 1, k] in the moment all system output signals composition vector, it may be assumed that
Lu, LyThe referred to as pseudo- order of system, u (k) indicate that system is inputted in the control at k moment, and y (k) indicates system at the k moment
Output,Referred to as pseudo- gradient vector, pseudo- gradient vector is stringent by mathematical theory
Prove the bound vector of its existence of guarantee, but each element cannot generally be expressed with analytic expression in vector, erect image Cauchy
The analytic expression that mean value theorem cannot explicitly provide its Derivative Mean Value is the same.It indicatesTransposition；
For above-mentioned spacecraft attitude full format dynamic equivalence linear data model, it is adaptive to design a kind of posture full format model-free
Answer controller, which is characterized in that controller inputs in the S1 are as follows:
Wherein,For controller parameter, yrFor the desired output of system, controller design problem is converted at this time
Optimal controller parameter vectorThe problem of.
3. a kind of assembly spacecraft attitude model-free adaptive controller parameter tuning method as described in the appended claim 1,
It is characterized in that, in the step S2, firstly, with one group of reference signal yrInput system obtains one group of input, output signal,
It is denoted as { y0(k),u0(k),yr(k)}；
Then, it calculates
It obtains
T takes 1, κ in formulaη(η=1 ... Ly+Lu+ 2) it appropriately to choose to guarantee these yη(k+1) (η=1 ... Ly+Lu+ 2) as far as possible
Close to yr；
The y that will be acquiredη(η=1 ... Ly+Lu+ 2) difference input system carries out Ly+Lu+ 2 closed-loop experiment time closed-loop experiments, obtain y
(k) (η=1 ... Ly+Lu+2)。
4. a kind of assembly spacecraft attitude model-free adaptive controller parameter tuning method as described in claim 1,
It is characterized in that, optimal controller calculation method of parameters, utilizes the resulting y (k) of step S2 closed-loop experiment (η=1 ... Ly+Lu+ 2),
First, in accordance with
y'η=(yη-y0)/κη(η=1 ... Ly+Lu+2)
Y'(ρ is calculated), then bring formula into
It obtainsAdjusting matrix R appropriate is chosen according to Gauss-Newton iterative method, by formula
Iterative Optimal Control device parameter.
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