CN110174844A - A kind of broad sense rank sliding mode predictive control method of remote control system - Google Patents

A kind of broad sense rank sliding mode predictive control method of remote control system Download PDF

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CN110174844A
CN110174844A CN201910592157.0A CN201910592157A CN110174844A CN 110174844 A CN110174844 A CN 110174844A CN 201910592157 A CN201910592157 A CN 201910592157A CN 110174844 A CN110174844 A CN 110174844A
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broad sense
remote control
control system
sense rank
sliding mode
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CN110174844B (en
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马志强
黄攀峰
刘正雄
董刚奇
鹿振宇
常海涛
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Northwestern Polytechnical University
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • 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
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/048—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators using a predictor

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Abstract

The invention belongs to technical field of robot control, are related to a kind of broad sense rank sliding mode predictive control method of remote control system, establish the remote control system model that discretization contains varying time delay；Remote control system broad sense rank sliding-mode surface is constructed, algorithm based on sliding mode prediction model is designed；Selected Control performance standard, provides complete controller design, realizes system closed loop.Broad sense rank calculus is added during controller design the present invention, improve the dynamic property and stable state accuracy of closed-loop system, the influence of disturbance, Parameter uncertainties and delay-non-determinism to system stability is reduced simultaneously, improves the reliability and transparency of remote control system.

Description

A kind of broad sense rank sliding mode predictive control method of remote control system
Technical field
The invention belongs to technical field of robot control, are related to a kind of broad sense rank sliding mode predictive control of remote control system Method.
Background technique
Remote control is a kind of technology for extending the perception of people and capacity to distal end, spanning space-time to robot to answer With, such as moon exploration program and deep space exploration task, play important supporting role.Compared to Autonomous intelligent robot, remote control Robot has fully considered the safety and binding character of current intellectual technology, by the perception of the mankind and adaptibility to response with robot Work capacity is mixed, the whole ability for enhancing system, is presently most realistic individual wisdom energy mixed strategy.
In general, robot remote control system can be divided into local man-machine according to the difference for participating in element concept Interaction, three parts of communications and REMOTE MACHINE people environmental interaction.At work, local human-computer interaction is negative for remote control system Duty generates instruction sequence and perception distal information, and director data is sent to distal end, REMOTE MACHINE people's environment by communications Interact the information be responsible for executing instruction and feed back distal environment and task execution to local.
The loop of remote control system itself is more, protocol conversion is frequent, instruction generation mechanism is complicated and information transmission space The features such as span is big is eventually exhibited as system, and in local and distal end, there are uncertain time delays.Unpredictable time-delay can Eroded control The performance of system processed, directly results in timing entanglement, operation sense is deteriorated, dynamic response is slack-off and stable state accuracy decline, or even causes System is unstable.Many scholars improve and adjust to robust control, variable-structure control, self adaptive control and intelligent control method It is whole, to adapt to influence of the unpredictable time-delay to control performance.Compared to method above-mentioned, PREDICTIVE CONTROL is anticipated with stronger engineering Justice also receives the attention of remote control domain expert in recent years, has in conjunction with the remote control system of PREDICTIVE CONTROL to time delay Preferable tolerance can take into account the stability and operating experience of system, be that generally acknowledged at present can offset uncertain time delay One of control method.
In addition to time delay influence, systematic uncertainty will also result in control performance variation, in conjunction with the pre- observing and controlling of structure changes thought Method processed copes with this problem, while in order to promote the tolerance to unpredictable time-delay, and broad sense rank calculus is introduced and is become In structural system and pre- geodesic structure, the robustness of lifting system promotes handling while guaranteeing system stability.
Summary of the invention
Technical problems to be solved
In order to avoid the shortcomings of the prior art, the present invention proposes a kind of broad sense rank algorithm based on sliding mode prediction of remote control system Control method focuses on the time delay and uncertain influence system instability solved in remote control system, is based on broad sense Rank Differential Integral Thought improves stability and handling, devises a kind of broad sense rank algorithm based on sliding mode prediction control of remote control system Method processed realizes high-precision and the control of quick remote control robot.
Technical solution
A kind of broad sense rank sliding mode predictive control method of remote control system, it is characterised in that steps are as follows:
Step 1, discretization contain the remote control system model of varying time delay:
Remote control system model containing varying time delay are as follows:
Discretization is carried out to remote control system model using Euler's forward difference technology, is obtained:
θi(k+2)=(ai(θi(k),θi(k+1))+bi(θ(k))ui(k)
+di(k)+wi(k+δ))T2+2θi(k+1)-θi(k+1), i=1 ... n
Wherein, Mi(i=m, s) indicates main side and the inertia matrix from end, Ci(i=m, s) indicates main side and the Coriolis from end Torque battle array, Gi(i=m, s) indicates gravity item, Di(i=m, s) is that the lump of bounded is uncertain, τi(i=m, s, h, e) is indicated Main side control moment, from end control moment, operator's input torque and from end environmental torque, T be sampling time, wi(k+ δ) is Uncertain time delay influence item, θiIt (k) is sampling of i-th of system variable at the k moment；
System variable is utilized into θi(k)=x2i-1(k) it is converted into state variable expression formula:
Wherein:
fi(θ (k), θ (k+1))=ai(θ(k),θ(k+1))T2+2θi(k+1)-θ(k)
gi(θ (k))=bi(θ(k))T2；
Step 2, building remote control system broad sense rank sliding-mode surface, design algorithm based on sliding mode prediction model:
Construct broad sense rank sliding-mode surface: si(k)=x2i(k)+c1Δx2i(k)+c2Δα-1x2i(k)
Wherein:For broad sense order difference operator
Wherein, Δ x2iIt (k) is x2i(k) Euler's forward difference, c2> 0, c1> 0；
Construct broad sense rank sliding-mode surface prediction model:
smi(k+1)=fi(x(k))+gi(x(k))ui(k)
+c1Δx2i(k)+c2Δα-1x2i(k)+γisi(k)
Wherein, 0 < γi≤1；
Design of feedback amendment rule:
Wherein, 0 < ξi≤1；
Step 3, setting Control performance standard function, provide complete controller design, realize system closed loop:
Set performance index function:
Wherein srIt is sliding-mode surface desired trajectory, usual sr(k)=0
Ask above formula about ui(k) partial differential obtains:
Obtain the control input of broad sense rank sliding mode predictive control are as follows:
Wherein:
It brings control input into state variable expression formula, forms stable closed-loop system.
Beneficial effect
A kind of broad sense rank sliding mode predictive control method of remote control system proposed by the present invention, establishes discretization and contains change Change the remote control system model of time delay；Remote control system broad sense rank sliding-mode surface is constructed, algorithm based on sliding mode prediction model is designed；Selected control Performance indicator processed provides complete controller design, realizes system closed loop.Controller design is added in broad sense rank calculus by the present invention In the process, the dynamic property and stable state accuracy of closed-loop system are improved, while it is not true to reduce disturbance, Parameter uncertainties and time delay The qualitative influence to system stability improves the reliability and transparency of remote control system.
Specific embodiment
Now in conjunction with embodiment, the invention will be further described:
The present invention focuses on the time delay and uncertain influence system instability solved in remote control system, is based on Broad sense rank Differential Integral Thought, improves stability and handling, the broad sense rank sliding formwork for devising a kind of remote control system are pre- Control method is surveyed, realizes high-precision and the control of quick remote control robot.
It specific steps and is given below:
Step 1: discretization contains the remote control system model of varying time delay；
Step 2: building remote control system broad sense rank sliding-mode surface designs algorithm based on sliding mode prediction model；
Step 3: selected Control performance standard provides complete controller design, realizes system closed loop, return step one.
Finally, the stability contorting to remote control system is realized in comprehensive work above.
Step 1:
In view of following remote control system:
Wherein, Mi(i=m, s) indicates main side and the inertia matrix from end, Ci(i=m, s) indicates main side and the Coriolis from end Torque battle array, Gi(i=m, s) indicates gravity item, Di(i=m, s) is that the lump of bounded is uncertain, τi(i=m, s, h, e) is indicated Main side control moment, from end control moment, operator's input torque and from end environmental torque.
Using Euler's forward difference technology, for convenience of explanation, the design is only discussed with regard to the kinetics equation of main side, The main side system expression formula in formula (1) can be converted to
Wherein T is sampling time, wi(k+ δ) is uncertain time delay influence item, θiIt (k) is i-th of system variable in k The sampling at quarter.In order to further illustrate controller design, the system variable in formula (2) is utilized into θi(k)=x2i-1(k) it converts For state variable expression-form, obtain
Wherein
fi(θ (k), θ (k+1))=ai(θ(k),θ(k+1))T2+2θi(k+1)-θ(k) (4)
gi(θ (k))=bi(θ(k))T2 (5)
Step 2:
Define broad sense order difference operator
Wherein
Broad sense rank sliding-mode surface is constructed based on formula (3)
si(k)=x2i(k)+c1Δx2i(k)+c2Δα-1x2i(k) (8)
Wherein, Δ x2iIt (k) is x2i(k) Euler's forward difference, c2> 0, c1> 0.
Construct broad sense rank sliding-mode surface prediction model
Wherein, 0 < γi≤1。
Design of feedback amendment rule
Wherein, 0 < ξi≤1。
Step 3:
Selected performance index function
Wherein srIt is sliding-mode surface desired trajectory, usual sr(k)=0.By the derivation of equation (11) about ui(k) partial differential
The control for obtaining broad sense rank sliding mode predictive control, which inputs, is
Wherein
According to the control of formula (3) and design input, stable closed-loop system is formed.

Claims (1)

1. a kind of broad sense rank sliding mode predictive control method of remote control system, it is characterised in that steps are as follows:
Step 1, discretization contain the remote control system model of varying time delay:
Remote control system model containing varying time delay are as follows:
Discretization is carried out to remote control system model using Euler's forward difference technology, is obtained:
θi(k+2)=(ai(θi(k),θi(k+1))+bi(θ(k))ui(k)+di(k)+wi(k+δ))T2+2θi(k+1)-θi(k+1),i =1 ... n
Wherein, Mi(i=m, s) indicates main side and the inertia matrix from end, Ci(i=m, s) indicates main side and the Coriolis torque from end Battle array, Gi(i=m, s) indicates gravity item, Di(i=m, s) is that the lump of bounded is uncertain, τi(i=m, s, h, e) indicates main side Control moment, from end control moment, operator's input torque and from end environmental torque, T be sampling time, wi(k+ δ) is not true Qualitative time delay influence item, θiIt (k) is sampling of i-th of system variable at the k moment；
System variable is utilized into θi(k)=x2i-1(k) it is converted into state variable expression formula:
Wherein:
fi(θ (k), θ (k+1))=ai(θ(k),θ(k+1))T2+2θi(k+1)-θ(k)
gi(θ (k))=bi(θ(k))T2；
Step 2, building remote control system broad sense rank sliding-mode surface, design algorithm based on sliding mode prediction model:
Construct broad sense rank sliding-mode surface: si(k)=x2i(k)+c1Δx2i(k)+c2Δα-1x2i(k)
Wherein:For broad sense order difference operator
Wherein, Δ x2iIt (k) is x2i(k) Euler's forward difference, c2> 0, c1> 0；
Construct broad sense rank sliding-mode surface prediction model:
smi(k+1)=fi(x(k))+gi(x(k))ui(k)+c1Δx2i(k)+c2Δα-1x2i(k)+γisi(k)
Wherein, 0 < γi≤1；
Design of feedback amendment rule:
Wherein, 0 < ξi≤1；
Step 3, setting Control performance standard function, provide complete controller design, realize system closed loop: setting performance indicator letter Number:
Wherein srIt is sliding-mode surface desired trajectory, usual sr(k)=0
Ask above formula about ui(k) partial differential obtains:
Obtain the control input of broad sense rank sliding mode predictive control are as follows:
Wherein:
It brings control input into state variable expression formula, forms stable closed-loop system.
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