CN109739250A - Adaptive finite time Attitude control model acquisition methods and system, controller and control method - Google Patents
Adaptive finite time Attitude control model acquisition methods and system, controller and control method Download PDFInfo
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Abstract
A kind of adaptive finite time Attitude control model acquisition methods and system, controller and control method, foundation contains external disturbance, quantify the vehicle dynamics model and attitude mode of input, definition status variable measurement error, model and measurement error based on aircraft, obtain the system model defined by measuring state, using adding exponential integral method, introduce the differential of sliding formwork differentiator estimating part signal, obtain the adaptive finite time quantization controller design scheme of aircraft, for the aerocraft system with quantization input, a kind of adaptive finite time quantization control method is provided, the control precision of raising system, and the characteristics of fast convergence rate, it is achieved that in the control program of spacecraft to reduce the traffic without influencing stability and control performance.
Description
One, technical field
The present invention relates to a kind of adaptive finite time Attitude control model acquisition methods and systems, controller and controlling party
Method is especially mainly used in a kind of adaptive finite time Attitude control model acquisition side of gesture stability of modular aircraft
Method and system, controller and control method.
Two, background technique
In recent years, modularization spacecraft is taken seriously, and modularization spacecraft uses modularization open network architedure, utilizes
The various components modularization of spacecraft is assembled, can reduce spacecraft cost by the basic thought of plug and play system,
Accelerate assembling speed, conducive to defective or out-of-date component easy removal and replacement, the core technology of modularization spacecraft is nothing
Line data communication and wireless power transmission, it is different from heavy, huge, inflexible traditional cable interconnection, under this technique, boat
All functional components of its device are all mutually indepedent, and are connected to the network by low-cost wireless, still, are responsible for executor module and control
The bandwidth and computing capability of the wireless network of data transmission between molding block are limited, and therefore, how to design spacecraft
Control program is very important with reducing the traffic without influencing stability and control performance.
It is obtained in similar background technique now based on applicant in the Disclosure of invention on November 5th, 2018 and by retrieval
The technical issues of having, technical characteristic and technical effect make application technical solution of the invention.
Three, summary of the invention
Object of the invention is a kind of adaptive finite time Attitude control model acquisition methods,
Object of the invention is a kind of adaptive finite time Attitude control model acquisition system,
Object of the invention is a kind of adaptive finite time attitude controller,
Object of the invention is a kind of adaptive finite time attitude control method.
In order to overcome the technical drawbacks described above, the object of the present invention is to provide a kind of adaptive finite time Attitude control models
Acquisition methods and system, controller and control method, it is achieved that the control program of spacecraft with reduce the traffic without
Influence stability and control performance.
In order to achieve the above objectives, the technical solution adopted by the present invention is that:
A kind of adaptive finite time Attitude control model acquisition methods, the steps include:
Vehicle dynamics model and attitude mode containing external disturbance, quantization input are established,
Definition status variable measurement error, model and measurement error based on aircraft obtain being defined by measuring state
System model,
Using exponential integral method is added, the differential of sliding formwork differentiator estimating part signal is introduced, obtaining the adaptive of aircraft should have
Limit time quantization controller design scheme.
Due to devising above-mentioned steps, for the aerocraft system with quantization input, when providing a kind of adaptive limited
Between quantization control method, the control precision of system is improved, and the characteristics of fast convergence rate, it is achieved that in the control of spacecraft
Scheme is to reduce the traffic without influencing stability and control performance.
The present invention devises, and establishes operating status equation group in CPU, includes content:
Establish vehicle dynamics model and attitude mode containing external disturbance, quantization input:
Wherein σ=[σ1,σ2,σ3]T, ω respectively indicate be aircraft posture and angular speed, J=diag { J1,J2,J3}
For inertia matrix,D (t)=[d1(t),d2(t),d3(t)]TFor external disturbance, | | d (t) | |≤κ, q (u (t))=
[q(u1(t)),q(u2(t)),q(u3(t)]TIt is inputted for quantization,I3For unit square
Battle array, s (σ)=[0 σ3-σ2；-σ30σ1；σ2-σ10].Quantizer operator definitions are
Wherein∈iRespectively indicate quantizer dead zone size and amount
Change density；q-(t) state at a upper moment was indicated.
According to measurement error, establish the aerocraft system model of measuring state characterization, the measured value of posture and angular speed and
True value meets following relationship:
WhereinIndicate sensor measurement state,It indicates measurement error, and meets
In conjunction with (1.1) and (1.2), following system is obtained
Wherein
Using exponential integral method and sliding formwork differentiator is added, adaptive finite time attitude controller design is designed:
New variable θ is drawn first1,θ2,φ1,φ2
Wherein θ1=| | b1||2,b1=[b11,b12,b13,b14,b15]T,
New variable is defined again
Wherein
Based on above-mentioned virtual controlling amount, adaptive controller and adaptive updates rule are designed
ν20It is obtained by the following differential equation:
Whereinμ20> 0, μ21> 0, ρ20,ρ21,ν20For the state of system.
The present invention devises, and a kind of adaptive finite time Attitude control model acquisition system, includes the following contents:
Unit 10 is established according to containing external disturbance, the vehicle dynamics model of quantization input and attitude mode,
According to definition status variable measurement error, the model based on aircraft and measurement error, obtain being determined by measuring state
The system model of justice establishes unit 20,
Add exponential integral method according to utilization, the differential for introducing sliding formwork differentiator estimating part signal, obtain the adaptive of aircraft
There should be limit time quantization controller design scheme to establish unit 30.
The present invention devises, and a kind of adaptive finite time attitude controller includes the following contents: storing up in the controller
There is the Controlling model of the adaptive finite time posture based on quantization input policing,
The present invention devises, and the Controlling model of the adaptive finite time posture based on quantization input policing is according to above-mentioned base
It is obtained in the adaptive finite time Attitude control model acquisition methods of quantization input policing,
The present invention devises, and a kind of adaptive finite time attitude control method based on quantization input policing includes
The following contents:
It is controlled in CPU using the adaptive finite time attitude controller based on quantization input policing.
The technical effects of the invention are that: the advantages of the present invention over the prior art are that: one kind that the present invention designs
Based on the adaptive finite time attitude control method of quantization input policing, for flight a kind of disturbed and containing measurement noise
Device system designs adaptive finite time quantization controller, eliminates interference, measurement noise and quantization error to system bring shadow
It rings, proposes the control precision and convergence rate of system；The adaptive finite time quantization control method that the present invention designs makes
System performance when having quantization error and interference effect has obtained very big improvement.
Four, 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 only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of adaptive finite time Attitude control model acquisition methods based on quantization input policing of the invention
Flow chart,
Fig. 2 is a kind of structural representation of adaptive finite time attitude controller based on quantization input policing of the invention
Figure.
Five, specific embodiment
According to guidelines for examination, such as " having ", "comprising" and " comprising " term used in the present invention should understand that
For the presence or addition for not allotting one or more of the other element or combinations thereof.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
As long as in addition, the non-structure each other of technical characteristic involved in invention described below different embodiments
It can be combined with each other at conflict.
Below with reference to embodiment, the present invention is further described, following embodiment is intended to illustrate invention rather than to this
Invention further limits.
A kind of adaptive finite time Attitude control model acquisition methods, one of one embodiment of the invention, step
Suddenly it is:
Step 100: vehicle dynamics model and attitude mode containing external disturbance, quantization input are established,
Step 200: definition status variable measurement error, model and measurement error based on aircraft are obtained by measurement shape
The system model that state defines,
Step 300: using exponential integral method is added, introducing the differential of sliding formwork differentiator estimating part signal, obtain aircraft
Adaptive finite time quantization controller design scheme.
In the present embodiment, step 100 includes specifically content:
In the case where considering gust disturbance and quantization input action, the vehicle dynamics model and posture of aerocraft system are built
Model:
Wherein σ=[σ1,σ2,σ3]T, ω respectively indicate be aircraft posture and angular speed, J=diag { J1,J2,J3}
For inertia matrix,For external disturbance, | | d (t) | |≤κ,
Q (u (t))=[q (u1(t)),q(u2(t)),q(u3(t)]TIt is inputted for quantization,
I3For unit matrix, s (σ)=[0 σ3-σ2；-σ30σ1；σ2-σ10].Quantizer operator definitions are
Wherein∈iRespectively indicate quantizer dead zone size and amount
Change density；q-(t) state at a upper moment was indicated.
In the present embodiment, step 200 includes specifically content:
According to measurement error, establish the aerocraft system model of measuring state characterization, the measured value of posture and angular speed and
True value meets following relationship:
WhereinIndicate sensor measurement state,It indicates measurement error, and meets
In conjunction with (1.1) and (1.2), following system is obtained
Wherein
In the present embodiment, step 300 includes specifically content:
Based on the system model that second step is established, using exponential integral method and sliding formwork differentiator is added, when designing adaptive limited
Between attitude controller design:
New variable θ is drawn first1,θ2,φ1,φ2
Wherein θ1=| | b1||2,b1=[b11,b12,b13,b14,b15]T,
New variable is defined again
Wherein
Based on above-mentioned virtual controlling amount, adaptive controller and adaptive updates rule are designed
ν20It is obtained by the following differential equation:
Whereinμ20> 0, μ21> 0, ρ20,ρ21,ν20For the state of system.
A kind of adaptive finite time Attitude control model acquisition system, includes the following contents:
Unit 10 is established according to containing external disturbance, the vehicle dynamics model of quantization input and attitude mode, is used for
Nonlinear system model is obtained,
According to definition status variable measurement error, the model based on aircraft and measurement error, obtain being determined by measuring state
The system model of justice establishes unit 20, for obtaining the system model with measurement error,
Add exponential integral method according to utilization, the differential for introducing sliding formwork differentiator estimating part signal, obtain the adaptive of aircraft
There should be limit time quantization controller design scheme to establish unit 30, for being applied to the nonlinear system of foundation.
A kind of adaptive finite time attitude controller, includes the following contents: is stored in the controller based on quantization
The Controlling model of the adaptive finite time posture of input policing,
In the present embodiment, the Controlling model of the adaptive finite time posture based on quantization input policing is according to above-mentioned base
It is obtained in the adaptive finite time Attitude control model acquisition methods of quantization input policing,
Step 100: vehicle dynamics model and attitude mode containing external disturbance, quantization input are established,
Step 200: definition status variable measurement error, model and measurement error based on aircraft are obtained by measurement shape
The system model that state defines,
Step 300: using exponential integral method is added, introducing the differential of sliding formwork differentiator estimating part signal, obtain aircraft
Adaptive finite time quantization controller design scheme.
A kind of adaptive finite time attitude control method, includes the following contents:
It is controlled in CPU using the adaptive finite time attitude controller based on quantization input policing.
Above-described embodiment be adaptive finite time Attitude control model acquisition methods provided by the present invention and system,
A kind of way of realization of controller and control method, other deformations of provided scheme, increase or reduce according to the present invention
Composition therein or step, or the present invention is used for other technical fields close with the present invention, it belongs to of the invention
Protection scope.
Claims (7)
1. a kind of adaptive finite time Attitude control model acquisition methods, it is characterized in that: the steps include:
Vehicle dynamics model and attitude mode containing external disturbance, quantization input are established,
Definition status variable measurement error, model and measurement error based on aircraft, obtains the system defined by measuring state
Model,
Using exponential integral method is added, introduce the differential of sliding formwork differentiator estimating part signal, obtain aircraft it is adaptive limited when
Between quantify controller design scheme.
2. adaptive finite time Attitude control model acquisition methods according to claim 1 contain it is characterized in that: establishing
The vehicle dynamics model and attitude mode that external disturbance, quantization input:
Wherein σ=[σ1,σ2,σ3]T, ω respectively indicate be aircraft posture and angular speed, J=diag { J1,J2,J3It is inertia
Matrix,D (t)=[d1(t),d2(t),d3(t)]TFor external disturbance, | | d (t) | |≤κ, q (u (t))=[q (u1
(t)),q(u2(t)),q(u3(t)]TIt is inputted for quantization,I3For unit matrix, s
(σ)=[0 σ3 -σ2；-σ3 0 σ1；σ2 -σ10].Quantizer operator definitions are
Wherein0 < ∈i< 1, αi> 0, αi, ∈iRespectively indicate quantizer dead zone size and quantization
Density；q-(t) state at a upper moment was indicated.
3. adaptive finite time Attitude control model acquisition methods according to claim 1, it is characterized in that:
According to measurement error, the aerocraft system model of measuring state characterization is established, the measured value of posture and angular speed and true
Value meets following relationship:
WhereinIndicate sensor measurement state,It indicates measurement error, and meets
In conjunction with (1.1) and (1.2), following system is obtained
Wherein
4. adaptive finite time Attitude control model acquisition methods according to claim 1, it is characterized in that: using power is added
Integration method and sliding formwork differentiator design adaptive finite time attitude controller design:
New variable θ is drawn first1,θ2,φ1,φ2
Wherein
New variable is defined again
Wherein
Based on above-mentioned virtual controlling amount, adaptive controller and adaptive updates rule are designed
ν20It is obtained by the following differential equation:
Whereinμ20> 0, μ21> 0, ρ20,ρ21,ν20For the state of system.
Include the following contents 5. a kind of adaptive finite time Attitude control model obtains system:
Unit 10 is established according to containing external disturbance, the vehicle dynamics model of quantization input and attitude mode,
According to definition status variable measurement error, the model based on aircraft and measurement error, obtain being defined by measuring state
System model establishes unit 20,
According to using plus exponential integral method, introduce sliding formwork differentiator estimating part signal differential, obtain the adaptive of aircraft and should have
Limit time quantization controller design scheme establishes unit 30.
6. a kind of adaptive finite time attitude controller, includes the following contents: storing in the controller defeated based on quantifying
Enter the Controlling model of the adaptive finite time posture of strategy,
The Controlling model of adaptive finite time posture based on quantization input policing is according to claim 1 to described in 4 any one
Acquisition methods obtain.
7. a kind of adaptive finite time attitude control method, includes the following contents:
It is controlled in CPU using the adaptive finite time attitude controller based on quantization input policing using claim 6
System.
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| CN111123706B (en) * | 2019-12-26 | 2022-05-27 | 湖南工业大学 | Control method for semi-active suspension system of high-speed train |
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