CN109739248A - Boat-carrying freedom degree parallel connection stabilized platform stable control method based on ADRC - Google Patents
Boat-carrying freedom degree parallel connection stabilized platform stable control method based on ADRC Download PDFInfo
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Abstract
The invention discloses a kind of boat-carrying freedom degree parallel connection stabilized platform stable control method based on ADRC, have the advantages that independent of boat-carrying freedom degree parallel connection stabilized platform mathematical models, effectively Dynamic Uncertain existing for solution boat-carrying freedom degree parallel connection stabilized platform, oscillation of ship movement caused by the stormy waves changed often disturb uncertain problem caused by platform, and this method controlling plan design is simple, is easy to Project Realization.The present invention estimates that Dynamic Uncertain existing for boat-carrying freedom degree parallel connection stabilized platform and disturbance are uncertain using extended state observer well, and it is used for disturbance suppression, especially this to boat-carrying freedom degree parallel connection stabilized platform there are the heavy load objects of unpredictable marine environment disturbance, have good control effect.The good estimated accuracy of extended state observer not only effectively increases boat-carrying freedom degree parallel connection stabilized platform stability contorting precision, and can save sensor, reduces control system cost.
Description
Technical field
The present invention relates to Naval Architecture and Ocean Engineering field, especially a kind of boat-carrying for being based on ADRC (Auto Disturbances Rejection Control Technique)
Three Degree Of Freedom (rolling, pitching, heaving) parallel connection stabilized platform stable control method.
Background technique
Marine ships can be generated by marine environment disturbance and sway movement (rolling, yawing, pitching, swaying, surging, heaving),
Influence the normal work of equipment on board.Yawing, swaying, the movement of surging three degree of freedom of usual ship can pass through ship power
Positioning system compensates, and rolling, pitching, heaving then need auxiliary system to compensate.Boat-carrying Three Degree Of Freedom is (horizontal
Shaking, pitching, heaving) movement of ship and the influence of posture can be isolated in stabilized platform in parallel, and keep boat-carrying freedom degree parallel connection steady
The upper supporting surface of fixed platform relative inertness space under marine environment disturbing influence keeps relative stability, and guarantees the ship on supporting surface
With the normal smooth operations of equipment, just as in land.Boat-carrying freedom degree parallel connection stabilized platform is widely used in the modern times
Military and civilian field, and play increasingly important role.
Marine environment is complicated and changeable, and boat-carrying parallel connection platform is clearly present of Dynamic Uncertain, the stormy waves that changes often draws
The oscillation of ship movement risen disturbs uncertain problem caused by boat-carrying platform, invents a kind of with anti-interference ability and robustness
Stable control method be very necessary." boat-carrying stabilized platform in parallel is ground for Jiangsu University of Science and Technology's Lee's oats all Master's thesis
Study carefully " use within (2013) classical PID design of control method Three Degree Of Freedom boat-carrying freedom degree parallel connection stabilized platform stability contorting
Device, and carried out simulating, verifying；Master's thesis " the parallel connection type Three Degree Of Freedom compensation of undulation stabilized platform of Jiangsu University of Science and Technology Wang Jian
Key technology research " (2013) steady using fuzzy self-adaptive PID design Three Degree Of Freedom boat-carrying freedom degree parallel connection
Fixed platform stability controller, to mention high control precision；Master's thesis " the carrier-borne stabilization of four-degree-of-freedom in parallel of University On The Mountain Of Swallows Su Shiru
Platform identity and control research " devises feedforward PID for four-degree-of-freedom boat-carrying freedom degree parallel connection stabilized platform in (2014)
Stability controller, and pass through the validity of controller under the middle sea situation of simulink simulating, verifying；HeFei University of Technology Wang Aijun
The paper " the 3-RPS parallel institution Control System Imitation based on MATLAB " (2016,23 being published on " engineering design journal "
(02): 172-180 it) for three free and stable platforms in parallel, devises Sliding mode theory in stabilizing controller (SMC), and is controlled with PID
Device processed carries out emulation comparison, the results showed that SMC controller has many advantages, such as that tracking accuracy height, response speed, steady-state error are small.So
And the wind that above-mentioned document does not comprehensively consider Dynamic Uncertain existing for boat-carrying freedom degree parallel connection stabilized platform, changes often
The movement of oscillation of ship caused by wave disturbs uncertain problem caused by boat-carrying platform.
Summary of the invention
To solve the above problems existing in the prior art, the present invention will propose a kind of boat-carrying Three Degree Of Freedom based on ADRC simultaneously
Join stabilized platform stable control method, is able to solve Dynamic Uncertain existing for boat-carrying freedom degree parallel connection stabilized platform, often
The movement of oscillation of ship caused by the stormy waves of variation disturbs uncertain problem caused by platform, improves anti-interference ability, enhancing system
System robustness.
To achieve the above object, technical scheme is as follows: a kind of boat-carrying freedom degree parallel connection based on ADRC is steady
Fixed platform stable control method, the following state space table of kinetic model of the boat-carrying freedom degree parallel connection stabilized platform
It is described up to formula:
In formula, x1It is the three-dimensional pose signal vector of boat-carrying freedom degree parallel connection stabilized platform, by roll angle α, pitch angle β
With heaving displacement z composition；x2It is the three-dimensional velocity signal vector of boat-carrying freedom degree parallel connection stabilized platform, by angular velocity in rollAngular velocity in pitchWith heaving velocity of displacementComposition；U is Three dimensions control input vector, steady by boat-carrying freedom degree parallel connection
The driving force τ that three hydraulic cylinders of fixed platform generate1、τ2、τ3Composition；Y=x1It is three-dimensional output vector, i.e., boat-carrying Three Degree Of Freedom is simultaneously
Join stabilized platform attained pose vector；G (x) is 3 × 3 dimension control gain matrixs, including reversible nominal gain matrixNo
Determine gain matrix Δ g (x), i.e.,F (x) is a three-dimensional vector function, indicates boat-carrying Three Degree Of Freedom simultaneously
Join stabilized platform dynamic, the nominal dynamic including boat-carrying freedom degree parallel connection stabilized platformWith uncertain dynamic Δ f (x),
I.e.
Consider that marine ship will receive the influence of marine environment disturbance, so that oscillation of ship movement is generated, with one three
Dimensional vector ζ (t) indicates that oscillation of ship moves the uncertain disturbance caused by boat-carrying freedom degree parallel connection stabilized platform, then boat-carrying three
The kinetic model (1) of freedom degree parallel connection stabilized platform is further represented as following form:
The method the following steps are included:
A, indeterminate Δ f (x), Δ g present in the kinetic model (2) by boat-carrying freedom degree parallel connection stabilized platform
(x) u and ζ (t) is considered as total perturbation vector d (x), i.e. a d (x)=Δ f (x)+Δ g (x) u+ ζ (t), and this is total
Perturbation vector expands into the new three-dimensional state vector x of boat-carrying freedom degree parallel connection stabilized platform one3, it is denoted as x3=d (x), and rememberW (t) indicates the change rate of total perturbation vector, is unknown bound vector function.Then boat-carrying freedom degree parallel connection is steady
The kinetic model (2) of fixed platform is expanded are as follows:
B, extended state observer is designed as follows:
In formula, e=z1-y；z1、z2It is boat-carrying freedom degree parallel connection stabilized platform state vector x respectively1、x2Estimation；z3
It is total perturbation vector x3Estimation；β01、β02、β03It is the design parameter of extended state observer；
Extended state observer is defeated using the control input vector u and attained pose of boat-carrying freedom degree parallel connection stabilized platform
The estimation z of outgoing vector y acquisition boat-carrying freedom degree parallel connection stabilized platform state vector1、z2And the estimation z of total perturbation vector3。
Design parameter β01、β02、β03It is selected be divided into three steps progress:
B1, designed extended state observer are therefore class dragon Burger nonlinear extension state observer assumes initially that
G in extended state observer (4)i(e)=e, then extended state observer (4) becomes following form:
Using the method for POLE PLACEMENT USING, extended state observer parameter beta is carried out01、β02、β03Initial designs.By formula (5)
It subtracts formula (3) and obtains the error dynamics equation of extended state observer:
In formula:
Z=[z1 z2 z3]T
X=[x1 x2 x3]T
A*=A-LC
C=[1 0 0]
B2, control matrix A in extended state observer error dynamics equation (6) is set*Desired character value be p1、p2、
p3, then by following formula:
Determine extended state observer design parameter β01、β02、β03Value:
B3, in identified design parameter β01、β02、β03Under to extended state observer carry out l-G simulation test, if emulation knot
Fruit shows z1、z2、z3The state vector x of boat-carrying freedom degree parallel connection stabilized platform is accurately estimated1、x2And expansion state vector
x3, then design parameter β01、β02、β03It is chosen to be identified value；Otherwise, return step B2 resets control matrix A*Phase
It hopes characteristic value, redefines design parameter β01、β02、β03, until extended state observer accurately estimates boat-carrying freedom degree parallel connection
The state vector x of stabilized platform1、x2And total perturbation vector x3Until.
C, nonlinear state error Feedback Control Laws are designed as follows:
In formula, e1=yd-z1, e2=-z2；ydIt is the expected pose signal vector of boat-carrying freedom degree parallel connection stabilized platform；
β1It is proportional gain, β2It is the differential gain；Fal () is following nonlinear function:
In formula, δ, a1、a2The controller design parameter being positive.
The nonlinear state error Feedback Control Laws are designed to boat-carrying freedom degree parallel connection stabilized platform pose mistake
It is stable flat to effectively eliminate boat-carrying freedom degree parallel connection for the nonlinear combination (5) of difference vector signal and velocity vector signals estimation
Error between platform attained pose and expected pose.
δ、a1、a2Take empirical value: δ=0.01, a1=0.5, a2=0.25.Parameter beta1、β2With more specific physics meaning
Justice, tuning process are as follows:
C1, differential gain β is taken first2=0, that is, remove the differential action, proportional gain β1It is taken as smaller value, then to boat-carrying
The stability contorting of Three Degree Of Freedom stabilized platform carries out l-G simulation test；And it is gradually increased proportional gain β1, until simulation curve reaches
Self-sustained oscillation state.
C2, proportional gain β under the self-sustained oscillation state is recorded1Value and response curve cycle of oscillation Tm, take β2=
0.125Tm.If simulation result shows error quilt between boat-carrying freedom degree parallel connection stabilized platform attained pose and expected pose
Control then completes β in the range of allowing1、β2Adjusting；Otherwise, return step C1, setting parameter again, until boat-carrying three from
By until error reaches the range allowed between degree stabilized platform attained pose in parallel and expected pose.
D, design disturbance compensation control rule:
Disturbance compensation control rule uses feed-forward mode, estimates z using total disturbance of extended state observer3Go real-time compensation
Oscillation of ship caused by Dynamic Uncertain existing for boat-carrying freedom degree parallel connection stabilized platform and stormy waves is moved caused by platform
Disturbance is uncertain.
E, comprehensive nonlinear state error Feedback Control Laws u0U is restrained with disturbance compensation control1Obtain boat-carrying freedom degree parallel connection
Stabilized platform stability contorting inputs u:
Control input u make the posture of boat-carrying freedom degree parallel connection stabilized platform is kept in inertial space one relatively steadily
State.
Compared with prior art, the invention has the following advantages:
1, the present invention has accurate independent of boat-carrying freedom degree parallel connection stabilized platform due to using ADRC control technology
The advantages of mathematical model, the wind for effectively solving Dynamic Uncertain existing for boat-carrying freedom degree parallel connection stabilized platform, changing often
The movement of oscillation of ship caused by wave disturbs uncertain problem caused by platform, and outstanding anti-interference ability and strong robustness can
Boat-carrying freedom degree parallel connection stabilized platform is set still to have good control effect under middle high sea situation；And this method controller design
Simply, it is easy to Project Realization.
2, the present invention estimates to move existing for boat-carrying freedom degree parallel connection stabilized platform well using extended state observer
State is uncertain and disturbance is uncertain, and is used for disturbance suppression, especially this to boat-carrying freedom degree parallel connection stabilized platform to exist not
The heavy load object of predictable marine environment disturbance, has good control effect.The good estimation of extended state observer
Precision not only effectively increases boat-carrying freedom degree parallel connection stabilized platform stability contorting precision, and the use of extended state observer
Sensor can be saved, control system cost is reduced.
Detailed description of the invention
Fig. 1 is the boat-carrying freedom degree parallel connection stabilized platform stable control method schematic diagram based on ADRC.
Specific embodiment
The present invention is further described through with reference to the accompanying drawing.
As shown in Figure 1, the boat-carrying freedom degree parallel connection stabilized platform stable control method principle based on ADRC are as follows: boat-carrying three
Freedom degree parallel connection stabilized platform is control target, its input signal u is the control of boat-carrying freedom degree parallel connection stabilized platform
Input, its output signal y are the attained pose signal of boat-carrying freedom degree parallel connection stabilized platform, and by external disturbance ζ's (t)
It influences, the input of boat-carrying freedom degree parallel connection stabilized platform, output signal input to extended state observer；Expansion state is seen
It surveys device and boat-carrying freedom degree parallel connection stabilized platform position is obtained according to the input u of boat-carrying freedom degree parallel connection stabilized platform and output y
The estimation z of appearance state and speed state1、z2And the estimation z always disturbed3；Boat-carrying freedom degree parallel connection stabilized platform parallel connection is stablized
The estimation z of platform's position and pose state1The reference input for feeding back boat-carrying freedom degree parallel connection stabilized platform parallel connection stabilized platform, with
The expected pose signal y of boat-carrying freedom degree parallel connection stabilized platform parallel connection stabilized platformdCompare, forms pose deviation signal e1=
yd-z1, nonlinear state error Feedback Control Laws are given in output, and the estimation of boat-carrying freedom degree parallel connection stabilized platform speed state is negative
Feedback, i.e. e2=-z2, input to nonlinear state error Feedback Control Laws u0, nonlinear state error Feedback Control Laws are e1With
e2Nonlinear combination, for eliminating the deviation between boat-carrying freedom degree parallel connection stabilized platform attained pose and expected pose；
The estimation z always disturbed3Feedforward inputs to disturbance compensation control rule u1, for compensate boat-carrying freedom degree parallel connection stabilized platform by
Total disturbance d (x)；Comprehensive nonlinear state error Feedback Control Laws u0U is restrained with disturbance compensation control1It obtains finally controlling input
U inputs to boat-carrying freedom degree parallel connection stabilized platform, so that the upper supporting surface of boat-carrying freedom degree parallel connection stabilized platform is in inertia
A relatively stable state is kept in space.
The present invention is not limited to the present embodiment, any equivalent concepts within the technical scope of the present disclosure or changes
Become, is classified as protection scope of the present invention.
Claims (1)
1. a kind of boat-carrying freedom degree parallel connection stabilized platform stable control method based on ADRC, it is characterised in that: the ship
The kinetic model for carrying freedom degree parallel connection stabilized platform is described with following state-space expression:
In formula, x1It is the three-dimensional pose signal vector of boat-carrying freedom degree parallel connection stabilized platform, by roll angle α, pitch angle β and hangs down
Swing displacement z composition；x2It is the three-dimensional velocity signal vector of boat-carrying freedom degree parallel connection stabilized platform, by angular velocity in rollIt is vertical
Cradle angle speedWith heaving velocity of displacementComposition；U is Three dimensions control input vector, by boat-carrying freedom degree parallel connection stabilized platform
The driving force τ that three hydraulic cylinders generate1、τ2、τ3Composition；Y=x1It is three-dimensional output vector, i.e., boat-carrying freedom degree parallel connection is stablized
Platform attained pose vector；G (x) is 3 × 3 dimension control gain matrixs, including reversible nominal gain matrixWith uncertain increasing
Beneficial matrix Δ g (x), i.e.,F (x) is a three-dimensional vector function, indicates that boat-carrying freedom degree parallel connection is stablized
Platform dynamic, the nominal dynamic including boat-carrying freedom degree parallel connection stabilized platformWith uncertain dynamic Δ f (x), i.e.,
Consider marine ship will receive marine environment disturbance influence, thus generate oscillation of ship movement, with a three-dimensional to
Measuring ζ (t) indicates that oscillation of ship moves the uncertain disturbance caused by boat-carrying freedom degree parallel connection stabilized platform, then boat-carrying three is free
The kinetic model (1) for spending stabilized platform in parallel is further represented as following form:
The method the following steps are included:
A, indeterminate Δ f (x), Δ g present in the kinetic model (2) by boat-carrying freedom degree parallel connection stabilized platform
(x) u and ζ (t) is considered as total perturbation vector d (x), i.e. a d (x)=Δ f (x)+Δ g (x) u+ ζ (t), and this is total
Perturbation vector expands into the new three-dimensional state vector x of boat-carrying freedom degree parallel connection stabilized platform one3, it is denoted as x3=d (x), and rememberW (t) indicates the change rate of total perturbation vector, is unknown bound vector function；Then boat-carrying freedom degree parallel connection is steady
The kinetic model (2) of fixed platform is expanded are as follows:
B, extended state observer is designed as follows:
In formula, e=z1-y；z1、z2It is boat-carrying freedom degree parallel connection stabilized platform state vector x respectively1、x2Estimation；z3It is total
Perturbation vector x3Estimation；β01、β02、β03It is the design parameter of extended state observer；
Extended state observer using boat-carrying freedom degree parallel connection stabilized platform control input vector u and attained pose export to
Measure the estimation z that y obtains boat-carrying freedom degree parallel connection stabilized platform state vector1、z2And the estimation z of total perturbation vector3；
Design parameter β01、β02、β03It is selected be divided into three steps progress:
B1, designed extended state observer are therefore class dragon Burger nonlinear extension state observer assumes initially that expansion
G in state observer (4)i(e)=e, then extended state observer (4) becomes following form:
Using the method for POLE PLACEMENT USING, extended state observer parameter beta is carried out01、β02、β03Initial designs；Formula (5) is subtracted
Formula (3) obtains the error dynamics equation of extended state observer:
In formula:
Z=[z1 z2 z3]T
X=[x1 x2 x3]T
A*=A-LC
C=[1 0 0]
B2, control matrix A in extended state observer error dynamics equation (6) is set*Desired character value be p1、p2、p3, then by
Following formula:
Determine extended state observer design parameter β01、β02、β03Value:
B3, in identified design parameter β01、β02、β03Under to extended state observer carry out l-G simulation test, if simulation result table
Bright z1、z2、z3The state vector x of boat-carrying freedom degree parallel connection stabilized platform is accurately estimated1、x2And expansion state vector x3,
Then design parameter β01、β02、β03It is chosen to be identified value；Otherwise, return step B2 resets control matrix A*Expectation
Characteristic value redefines design parameter β01、β02、β03, until extended state observer accurately estimates that boat-carrying freedom degree parallel connection is steady
The state vector x of fixed platform1、x2And total perturbation vector x3Until；
C, nonlinear state error Feedback Control Laws are designed as follows:
In formula, e1=yd-z1, e2=-z2；ydIt is the expected pose signal vector of boat-carrying freedom degree parallel connection stabilized platform；β1It is ratio
Example gain, β2It is the differential gain；Fal () is following nonlinear function:
In formula, δ, a1、a2The controller design parameter being positive；
The nonlinear state error Feedback Control Laws be designed to boat-carrying freedom degree parallel connection stabilized platform position and attitude error to
The nonlinear combination (5) for measuring signal and velocity vector signals estimation, it is real to effectively eliminate boat-carrying freedom degree parallel connection stabilized platform
Error between border pose and expected pose；
δ、a1、a2Take empirical value: δ=0.01, a1=0.5, a2=0.25；Parameter beta1、β2With more specific physical significance,
Tuning process is as follows:
C1, differential gain β is taken first2=0, that is, remove the differential action, proportional gain β1It is taken as smaller value, then certainly to boat-carrying three
L-G simulation test is carried out by the stability contorting of degree stabilized platform；And it is gradually increased proportional gain β1, until simulation curve reaches constant amplitude
Oscillatory regime；
C2, proportional gain β under the self-sustained oscillation state is recorded1Value and response curve cycle of oscillation Tm, take β2=
0.125Tm；If simulation result shows error quilt between boat-carrying freedom degree parallel connection stabilized platform attained pose and expected pose
Control then completes β in the range of allowing1、β2Adjusting；Otherwise, return step C1, setting parameter again, until boat-carrying three from
By until error reaches the range allowed between degree stabilized platform attained pose in parallel and expected pose；
D, design disturbance compensation control rule:
Disturbance compensation control rule uses feed-forward mode, estimates z using total disturbance of extended state observer3Remove real-time compensation boat-carrying
The movement of oscillation of ship caused by Dynamic Uncertain existing for freedom degree parallel connection stabilized platform and stormy waves is disturbed caused by platform
It is uncertain；
E, comprehensive nonlinear state error Feedback Control Laws u0U is restrained with disturbance compensation control1Boat-carrying freedom degree parallel connection is obtained to stablize
Platform stable control input u:
Control input u makes the posture of boat-carrying freedom degree parallel connection stabilized platform keep a relatively stable shape in inertial space
State.
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| CN113955032B (en) * | 2021-11-15 | 2024-02-02 | 上海新纪元机器人有限公司 | Force control method and system for actively reducing shaking and self-balancing device |
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