CN113065296A - Different-modal stable switching control algorithm based on order reduction - Google Patents
Different-modal stable switching control algorithm based on order reduction Download PDFInfo
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Abstract
The invention discloses a different-mode stable switching control algorithm based on order reduction, which comprises the following steps: (1) the second-order over-resistance mud controllable system is configured with two poles and a zero point of the second-order over-resistance mud controllable system through a transfer function G (S); (2) the value of one pole is identical to that of the zero, cancellation is achieved, a pole which is not cancelled is left, zero-pole cancellation is achieved, reduction of the second-order over-resistance mud controllable system is completed, and the second-order over-resistance mud controllable system is reduced to a first-order system; (3) after order reduction, the first-order system realizes zero-error switching of modes. The invention aims at a second-order over-resistance mud controllable system, can realize the random arrangement of poles, and can offset the zero pole through state feedback, so that the system is reduced into a first-order system. Therefore, the mode and the stable conversion between the modes are conveniently realized, and the stable conversion can be realized by combining master-slave control, prediction control and the like.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to a different-mode stable switching control algorithm based on order reduction.
Background
The control system performance is mainly embodied in two aspects: the first is response speed and the second is control accuracy. If the intelligent control multi-mode is considered, the intelligent control multi-mode can be completely divided into two modes, wherein one mode is a mode for improving the response speed, and the other mode is a mode for improving the control precision. The core of intelligent control is multi-modal control, and the difficulty of multi-modal control is smooth conversion between modalities.
Some studies have been conducted on smooth transition between different modes in various countries, for example, a weighting method is adopted to make the fluctuation generated when the modes are transitioned smaller. Second or higher order systems, without order reduction, have difficulty in a smooth transition from a first mode of speed emphasis to a second mode of accuracy emphasis without fluctuations, whereas first order systems, with no fluctuations, can transition from a first mode of speed emphasis to a second mode of accuracy emphasis without fluctuations.
In view of this, the invention provides a reduced-order based different-mode stable switching control algorithm.
Disclosure of Invention
The invention aims to provide a different-mode stable switching control algorithm based on reduced order aiming at the defects of the prior art.
In order to solve the technical problems, the following technical scheme is adopted:
a reduced-order based different-mode stable switching control algorithm comprises the following steps:
(1) the second-order over-resistance mud controllable system is configured with two poles and a zero point of the second-order over-resistance mud controllable system through a transfer function G (S);
(2) the value of one pole is identical to that of the zero, cancellation is achieved, a pole which is not cancelled is left, zero-pole cancellation is achieved, reduction of the second-order over-resistance mud controllable system is completed, and the second-order over-resistance mud controllable system is reduced to a first-order system;
(3) after order reduction, the first-order system realizes zero-error switching of modes.
Further, in step (1), the pole allocation step is as follows:
(a) firstly, the transfer function of a second-order over-resistance mud controllable system is assumed as follows:
(b) and then converting the second-order system of the transfer function G (S) into a standard energy control type as follows:
(c) then, a dynamic equation is converted into
Wherein x1 and x2 are a group of state variables of a second-order over-resistance mud controllable system, u is input quantity, and y is output quantity;
if the dynamic equation is expressed as follows
Then it is determined that,
(d) and finally, introducing a state square feedback K ═ K1K 2, wherein a characteristic equation after state feedback is introduced is as follows:
det(SI-A+bK)＝0
wherein I is an identity matrix, det represents a determinant of the matrix SI-A + bK
And (3) after simplification:
if the poles required to be configured are β 1, β 2, the characteristic equation thus formed is:
(S- β 1) (S- β 2) ═ 0, i.e.: s2-(β1+β2)S+β1β2＝0
This gives the value of K1, K2:
k1 and K2 are determined, and β 1 and β 2 are obtained to realize arbitrary arrangement of poles.
Further, in the step (2), the step of reducing the second-order over-resistance mud controllable system to a first-order system is as follows:
(a) for the transfer function G (S), there are two poles, respectively
And
zero point has one, is
(b) In order to realize zero-pole cancellation, the value of one pole is the same as that of the zero, cancellation is realized, and the other pole which is not cancelled is left;
(c) after state feedback, the allocated poles are respectively
And
according to the obtainedK1, K2 value formula, solving the state feedback matrix:
obtaining a transfer function T (S) after state feedback as follows:
and the order reduction is realized by obtaining the transfer function T (S) after state feedback.
Further, in step (3), the step of the first-order system implementing zero-error switching of the modality is as follows:
(a) at the beginning, assume the output is 0; aiming at the reduced-order first-order system of the transfer function T (S) after state feedback, if the control target value is Y0, the control value in the steady state is calculated to be
(b) The start control amount is determined to be P0, and
the larger | P0| is, the faster the response speed is;
(c) when the output value is Y0, the control amount is switched to P1, and the P1 value is:
(d) and on the basis of successful switching, fine adjustment control is performed to realize zero-error switching of the modes.
Further, in step (3), the modalities are divided according to a state space.
Further, the mode is divided according to the state space according to the error size.
Due to the adoption of the technical scheme, the method has the following beneficial effects:
the invention relates to a different-mode stable switching control algorithm based on order reduction, which aims at a second-order over-resistance mud controllable system, can realize the random arrangement of poles, and can cancel the zero pole through state feedback to reduce the order of the system into a first-order system. Therefore, the mode and the stable conversion between the modes are conveniently realized, and the stable conversion can be realized by combining master-slave control, prediction control and the like.
Aiming at a second-order over-resistance mud system, the system is divided into two modes, the first mode emphasizes to improve the response speed, the second mode emphasizes to improve the control precision, and the order of the second-order over-resistance mud controllable system is reduced, so that the mode-to-mode non-fluctuation switching is realized.
Drawings
The invention will be further described with reference to the accompanying drawings in which:
FIG. 1 is a block diagram of smooth switching of different modes of a second-order over-resistance mud controllable system based on order reduction in the invention;
FIG. 2 is a block diagram of a verification example of a smooth switching control algorithm between different modes of a second-order over-resistance mud system based on order reduction in the invention;
FIG. 3 is an output diagram of an example of a reduced order based verification of a smooth transition control algorithm between different modes in accordance with the present invention;
FIG. 4 is a second output diagram of a verification example of a smooth handover control algorithm between different modes based on reduced order in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
As shown in fig. 1 to 4, a reduced-order based stable switching control algorithm with different modes can realize arbitrary pole allocation for a second-order over-resistance mud controllable system, and cancel the zero pole through state feedback, so that the system is reduced to a first-order system. The method and the device are convenient to realize the mode and the stable conversion between the modes, and the stable conversion can be realized by combining master-slave control, prediction control and the like.
The second-order or high-order over-resistance mud system does not pass order reduction, and error-free switching between the two modes cannot be realized. And the second-order over-resistance mud controllable system enables the zero pole to be offset through the arrangement of the poles, thereby completing the reduction of the second-order over-resistance mud system and reducing the second-order over-resistance mud system into a first-order system. While a first order system can achieve error-free switching between the two modes.
Aiming at a second-order over-resistance mud system, the system is divided into two modes, the first mode emphasizes to improve the response speed, the second mode emphasizes to improve the control precision, and the order of the second-order over-resistance mud controllable system is reduced, so that the mode-to-mode non-fluctuation switching is realized.
Specifically, the realization of error-free switching between the two modes enables the fluctuation in the mode switching process to be small, and the control algorithm is favorable for improving the control precision of a second-order over-resistance mud control system.
Specifically, the first order system can implement ripple-free switching between two simple modalities without feedback, while the second order system can hardly implement ripple-free switching between two modalities without feedback. In order to achieve ripple-free switching between the two modes at the second order, the second order system must be reduced. One of the methods of order reduction is to cancel the pole-zero by arbitrarily configuring the pole. The energy control system can completely realize the arbitrary configuration of poles through state feedback, and achieve the cancellation of zero poles, thereby finishing the purpose of order reduction.
The algorithm specifically comprises the following steps:
step (1): the second-order over-resistance mud controllable system firstly configures two poles and a zero of the second-order over-resistance mud controllable system through a transfer function G (S).
Specifically, in step (1), the pole arrangement steps are as follows:
(a) firstly, the transfer function of a second-order over-resistance mud controllable system is assumed as follows:
(b) and then converting the second-order system of the transfer function G (S) into a standard energy control type as follows:
(c) then, a dynamic equation is converted into
Wherein x1 and x2 are a group of state variables of a second-order over-resistance mud controllable system, u is input quantity, and y is output quantity;
if the dynamic equation is expressed as follows
Then it is determined that,
(d) and finally, introducing a state square feedback K ═ K1K 2, wherein a characteristic equation after state feedback is introduced is as follows:
det(SI-A+bK)＝0
wherein I is an identity matrix, det represents a determinant of the matrix SI-A + bK
And (3) after simplification:
if the poles required to be configured are β 1, β 2, the characteristic equation thus formed is:
(S- β 1) (S- β 2) ═ 0, i.e.: s2-(β1+β2)S+β1β2＝0
This gives the value of K1, K2:
k1 and K2 are determined, and β 1 and β 2 are obtained to realize arbitrary arrangement of poles.
Step (2): the value of one pole is identical to that of the zero, cancellation is achieved, a pole which is not cancelled is left, zero-pole cancellation is achieved, reduction of the second-order over-resistance mud controllable system is completed, and the second-order over-resistance mud controllable system is reduced to a first-order system;
specifically, in this embodiment, in the step (2), the step of reducing the second-order over-resistance mud controllable system to the first-order system is as follows:
(a) for the transfer function G (S), there are two poles, respectively
And
zero point has one, is
(b) In order to realize zero-pole cancellation, the value of one pole is the same as that of the zero, cancellation is realized, and the other pole which is not cancelled is left;
(c) after state feedback, the allocated poles are respectively
And
and (3) solving a state feedback matrix according to the formula of the obtained K1 and K2 values:
the transfer function after state feedback is obtained as follows:
and the order reduction is realized by obtaining the transfer function T (S) after state feedback.
And (3): after order reduction, the first-order system realizes zero-error switching of modes.
Specifically, in this embodiment, in step (3), the step of the first-order system implementing zero-error switching of the modality is as follows:
(a) at the beginning, assume the output is 0; aiming at the reduced-order first-order system of the transfer function T (S) after state feedback, if the control target value is Y0, the control value in the steady state is calculated to be
(b) The start control amount is determined to be P0, and
the larger P0| is, the faster the response speed is;
(c) when the output value is Y0, the control amount is switched to P1, and the P1 value is:
(d) and on the basis of successful switching, fine adjustment control is performed to realize zero-error switching of the modes.
Specifically, in the present embodiment, the modalities are divided according to a state space.
More specifically, the modes are divided according to the state space according to the error size. When the absolute value of the error is larger, entering a mode of improving the response speed; and when the absolute value of the error is smaller, entering a mode of improving the control precision.
As long as the second-order over-resistance mud control system can realize error-free switching between the two modes by the method, the response speed of the second-order over-resistance mud control system can be improved by the control algorithm.
Under the condition of interference, the control algorithm can be combined with another control algorithm, the response speed of the second-order over-resistance mud control system is increased, and the control precision is improved.
Specifically, the application to the present embodiment is as follows:
aiming at a second-order over-resistance mud system, if the order is not reduced among different modes, the fluctuation-free switching is difficult to realize. Therefore, a control algorithm for smoothly switching between different modes of the second-order over-resistance mud system based on reduced order is needed.
If the controlled object is:
wherein, T1 is 1, T2 is 3 and L is 2.
If the dynamic equation is expressed as follows:
wherein the content of the first and second substances,
for the controlled object shown in the above formula, there are two poles, each being
And
namely-1 and
and only one zero point is
Namely, it is
To implement zero-pole cancellation, assume the poles after state feedback are-1 and-1, respectively
According to a formula for solving the values of K1 and K2, the elements of the state feedback matrix are obtained as follows:
the transfer function after state feedback is obtained as follows:
in the above feedback-based transfer function,
has already been cancelled, leaving only the-1 pole.
See in particular fig. 2. Fig. 2 is a block diagram of a verification example of a smooth switching control algorithm between different modes of a second-order over-resistance mud system based on order reduction. Smooth transitions between modalities are mainly considered. The second-order system is difficult to realize the non-fluctuation conversion among different modes, so the first step is carried out with the step reduction; and step two, respectively controlling according to the modes.
Referring to fig. 3 and 4, in the first mode, the response time is mainly considered, the control amount of the first mode is 20 and 60, respectively, and the target value is set to 1, so that when the output value reaches 1, the second mode is switched to, and the second mode focuses on enhancing the control accuracy as much as possible under the condition of satisfying the robustness. The control model after order reduction is as follows:
therefore, when the output is 1, the control amount must be around 1.5.
Referring to fig. 3 and 4, fig. 3 shows an output when the initial state is 0 and the first-mode control amount P0 is 20, and fig. 4 shows an output when the initial state is 0 and the first-mode control amount P0 is 60. From the output result, it is effective to smoothly switch the control algorithm between different states based on the reduced order, and in addition, the response speed is faster when the first-modality control amount is larger.
Referring to table 1, table 1 verifies example data (corresponding to fig. 3) for the smooth transition control algorithm between different modalities based on order reduction.
Referring to Table 2, Table 2 shows example data for the control algorithm verification for smooth transition between different modes based on order reduction (corresponding to FIG. 4)
The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications made on the basis of the present invention to solve the same technical problems and achieve the same technical effects are all covered in the protection scope of the present invention.
Claims (6)
1. A reduced-order based different-mode stable switching control algorithm is characterized by comprising the following steps:
(1) the second-order over-resistance mud controllable system is configured with two poles and a zero point of the second-order over-resistance mud controllable system through a transfer function G (S);
(2) the value of one pole is identical to that of the zero, cancellation is achieved, a pole which is not cancelled is left, zero-pole cancellation is achieved, reduction of the second-order over-resistance mud controllable system is completed, and the second-order over-resistance mud controllable system is reduced to a first-order system;
(3) after order reduction, the first-order system realizes zero-error switching of modes.
2. The reduced order based different modal graceful handoff control algorithm of claim 1, wherein: in step (1), the pole allocation step is as follows:
(a) firstly, the transfer function of a second-order over-resistance mud controllable system is assumed as follows:
(b) and then converting the second-order system of the transfer function G (S) into a standard energy control type as follows:
(c) then, a dynamic equation is converted into
Wherein x1 and x2 are a group of state variables of a second-order over-resistance mud controllable system, u is input quantity, and y is output quantity;
if the dynamic equation is expressed as follows
Then it is determined that,
(d) and finally, introducing a state square feedback K ═ K1K 2, wherein a characteristic equation after state feedback is introduced is as follows:
det(SI-A+bK)＝0
wherein I is an identity matrix, det represents a determinant of the matrix SI-A + bK
And (3) after simplification:
if the poles required to be configured are β 1, β 2, the characteristic equation thus formed is:
(S- β 1) (S- β 2) ═ 0, i.e.: s2-(β1+β2)S+β1β2＝0
This gives the value of K1, K2:
k1 and K2 are determined, and β 1 and β 2 are obtained to realize arbitrary arrangement of poles.
3. The reduced order based different modal graceful handoff control algorithm of claim 2, wherein: in the step (2), the step of reducing the second-order over-resistance mud controllable system to a first-order system is as follows:
(a) for the transfer function G (S), there are two poles, respectively
And
zero point has one, is
(b) In order to realize zero-pole cancellation, the value of one pole is the same as that of the zero, cancellation is realized, and the other pole which is not cancelled is left;
(c) after state feedback, the allocated poles are respectively
And
and (3) solving a state feedback matrix according to the formula of the obtained K1 and K2 values:
obtaining a transfer function T (S) after state feedback as follows:
and the order reduction is realized by obtaining the transfer function T (S) after state feedback.
4. The reduced order based different modal graceful handoff control algorithm of claim 3, wherein: in step (3), the step of the first-order system implementing zero-error switching of the modality is as follows:
(a) at the beginning, assume the output is 0; aiming at the reduced-order first-order system of the transfer function T (S) after state feedback, if the control target value is Y0, the control value in the steady state is calculated to be
(b) The start control amount is determined to be P0, and
the larger | P0| is, the faster the response speed is;
(c) when the output value is Y0, the control amount is switched to P1, and the P1 value is:
(d) and on the basis of successful switching, fine adjustment control is performed to realize zero-error switching of the modes.
5. The reduced order based different modal graceful handoff control algorithm of claim 1, wherein: in step (3), the modalities are divided according to a state space.
6. The reduced order based different modal graceful handoff control algorithm of claim 5, wherein: the mode is divided according to the state space according to the error size.
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