CN113485113A - Method and device for controlling locking increase and decrease active disturbance rejection and electronic equipment - Google Patents
Method and device for controlling locking increase and decrease active disturbance rejection and electronic equipment Download PDFInfo
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Abstract
The application provides a method and a device for controlling active disturbance rejection of locking increase and decrease and electronic equipment, wherein the method comprises the following steps: acquiring a current set value, a historical expansion state variable, a historical observation compensation quantity and a current controlled quantity of an active disturbance rejection controller; determining the current control quantity expected increment of the active disturbance rejection controller according to the current set value, the historical expansion state variable, the historical observation compensation quantity and the current controlled quantity of the active disturbance rejection controller; determining the current working mode of the active disturbance rejection controller according to preset locking increase and decrease trigger logic and the current control quantity expected increment and locking logic; the working modes comprise a control mode, a locking increasing mode and a locking decreasing mode. According to the method provided by the scheme, the automatic and stable switching of the active disturbance rejection controller between the control mode and the locking increase and decrease mode is realized through the expected increment of the current control quantity and the locking logic according to the active disturbance rejection controller, and the control performance of the active disturbance rejection controller is improved.
Description
Technical Field
The application relates to the technical field of automation, in particular to a locking increase and decrease active disturbance rejection control method and device and electronic equipment.
Background
The active disturbance rejection control algorithm integrates the advantages of the traditional PID control method and the modern control method, has the advantages of definite physical significance of control parameters, strong disturbance rejection capability and good robustness, and shows huge application potential in the industrial process.
In the prior art, in order to avoid the controller from falling into a deep saturation state, a latch increasing and decreasing function needs to be arranged for the active disturbance rejection controller. Specifically, according to the effective working range of the executing mechanism or other control requirements, a locking increase and decrease trigger signal is set, when the trigger signal is effective, the controller is in a locking increase or locking decrease state, and the control quantity signal output by the controller is forbidden to increase or decrease.
However, if only the externally triggered latch up/down signal is used as the operation mode determination condition, when the latch up/down signal is present externally, the controller output is actually in the bidirectional frozen state, and a reasonable control amount signal cannot be output, thereby degrading the control performance of the active disturbance rejection controller.
Disclosure of Invention
The application provides a method and a device for controlling active disturbance rejection of a locked and increased and decreased active disturbance rejection controller and electronic equipment, and aims to overcome the defects that the control performance of the active disturbance rejection controller is reduced in the prior art and the like.
The first aspect of the application provides a latch up and down active-disturbance-rejection control method, which is applied to an active-disturbance-rejection controller with a compensation structure, and the method comprises the following steps:
acquiring a current set value, a historical expansion state variable, a historical observation compensation quantity and a current controlled quantity of the active disturbance rejection controller;
determining the current control quantity expected increment of the active disturbance rejection controller according to the current set value, the historical expansion state variable, the historical observation compensation quantity and the current controlled quantity of the active disturbance rejection controller;
determining the current working mode of the active disturbance rejection controller according to a preset locking increase and decrease trigger logic and the current control quantity expected increment; wherein the operating modes include a control mode, a lock-up mode, and a lock-down mode.
Optionally, the determining a current control quantity expected increment of the active disturbance rejection controller according to a current setting value, a historical expansion state variable, a historical observation compensation quantity, and a current controlled quantity of the active disturbance rejection controller includes:
calculating an expected increment of a control quantity of the active disturbance rejection controller according to the following formula:
wherein u isf(k-1) represents the observed offset at time k-1, r (-) represents the set value, y (k) represents the controlled quantity at time k, z1(k-1) represents a first expansion state variable at time k-1, z2(k-1) represents a second expansion state variable at time k-1, b0Representing a preset first control intensity factor, b0∈[0.5,+∞)，kpRepresenting a preset second control intensity factor, beta1Representing a preset first calculation parameter, beta2Represents a preset second calculation parameter, and t represents a calculation period.
Optionally, the determining, according to a preset latch increase and decrease trigger logic and according to the current control quantity expected increment, a current operating mode of the active disturbance rejection controller includes:
determining a current operating mode of the active disturbance rejection controller according to the following latch up and down trigger logic:
where h (k) represents the expected increment of the control quantity of the active disturbance rejection controller, bid (k) is 0 representing no lock signal, bid (k) is 1 representing a lock decreasing signal, bid (k) is 2 representing a lock increasing signal, mode (k) is 1 representing a lock increasing mode, mode (k) is 2 representing a lock decreasing mode, and mode (k) is 0 representing a control mode.
Optionally, the method further includes:
acquiring the current control quantity and the current linear feedback value of the active disturbance rejection controller;
when the current working mode of the active disturbance rejection controller is a control mode, determining the current observation compensation amount according to the current linear feedback value;
and when the current working mode of the active disturbance rejection controller is a locked increasing mode or a locked decreasing mode, determining the current control quantity of the active disturbance rejection controller as the current observation compensation quantity.
Optionally, when the current working mode of the active disturbance rejection controller is the control mode, determining the current observed compensation amount according to the current linear feedback value, including:
when the current working mode of the active disturbance rejection controller is a control mode, calculating an observation compensation amount according to the following formula:
wherein u isf(k) Represents the observed offset at time k, uPD(k) Linear feedback value at time k, T calculation period, T0Representing the inertia time constant of the preset compensation link, and when the transfer function model of the control process is K/(T S +1)nThe compensation link is 1/(T)0*S+1)n。
Optionally, the updating the expansion state variable of the active disturbance rejection controller according to the current operating mode, the current observed compensation amount, and the current controlled amount of the active disturbance rejection controller includes:
updating the first expansion state variable according to the following formula:
updating the second expansion state variable according to the following formula:
wherein z is1(k) A first extended state variable, z, representing time k2(k) A second extended state variable indicating time k, mode (k) ═ 1,2 indicates that the current operation mode of the active disturbance rejection controller is the lock up mode or the lock down mode, mode (k) ═ 0 indicates that the current operation mode of the active disturbance rejection controller is the control mode, y (k) indicates the controlled variable at time k, r (k) indicates the set value at time k, b (k) indicates the set value at time k, and0representing a preset first control intensity factor, kpRepresenting a preset second control intensity factor, beta1Representing a preset first calculation parameter, beta2Representing a preset second calculation parameter.
Optionally, the method further includes:
acquiring a current set value of the active disturbance rejection controller;
and updating the linear feedback value according to the updated first expansion state variable, the updated second expansion state variable and the current set value.
The second aspect of the present application provides a latch increase/decrease active-disturbance-rejection controller, which is applied to an active-disturbance-rejection controller with a compensation structure, and comprises:
the acquisition module is used for acquiring a current set value, a historical expansion state variable, a historical observation compensation quantity and a current controlled quantity of the active disturbance rejection controller;
the determining module is used for determining the current control quantity expected increment of the active disturbance rejection controller according to the current set value, the historical expansion state variable, the historical observation compensation quantity and the current controlled quantity of the active disturbance rejection controller;
the control module is used for determining the current working mode of the active disturbance rejection controller according to the preset locking increase and decrease trigger logic and the current control quantity expected increment; wherein the operating modes include a control mode, a lock-up mode, and a lock-down mode.
A third aspect of the present application provides an electronic device, comprising: at least one processor and memory;
the memory stores computer-executable instructions;
the at least one processor executes computer-executable instructions stored by the memory to cause the at least one processor to perform the method as set forth in the first aspect above and in various possible designs of the first aspect.
A fourth aspect of the present application provides a computer-readable storage medium having stored thereon computer-executable instructions that, when executed by a processor, implement a method as set forth in the first aspect and various possible designs of the first aspect.
This application technical scheme has following advantage:
according to the method, the device and the electronic equipment for controlling the locking increase and decrease of the active disturbance rejection, the current set value, the historical expansion state variable, the historical observation compensation quantity and the current controlled quantity of an active disturbance rejection controller are obtained; determining the current control quantity expected increment of the active disturbance rejection controller according to the current set value, the historical expansion state variable, the historical observation compensation quantity and the current controlled quantity of the active disturbance rejection controller; determining the current working mode of the active disturbance rejection controller according to preset locking increase and decrease trigger logic and the current control quantity expected increment; the working modes comprise a control mode, a locking increasing mode and a locking decreasing mode. According to the method provided by the scheme, the working mode of the active disturbance rejection controller is adjusted according to the current control quantity expected increment of the active disturbance rejection controller, so that the reliability of the judgment result of the working mode is improved, the automatic and stable switching of the active disturbance rejection controller between the control mode and the locking increase and decrease mode is realized, and the control performance of the active disturbance rejection controller is improved.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art according to these drawings.
FIG. 1 is a schematic structural diagram of a latch-up and drop-out active-disturbance-rejection control system according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a method for controlling latchup add-drop-auto-disturbance rejection according to an embodiment of the present application;
FIG. 3 is a logic diagram of a conventional ADRC configuration;
FIG. 4 is a schematic logic diagram of a compensatory active disturbance rejection controller with latch up increase and decrease according to an embodiment of the present application;
FIG. 5 is a closed loop response curve diagram of the compensated ADRC with latch up increase and decrease function during the set value step;
FIG. 6 is a control graph of an active disturbance rejection controller without the latch up increase and decrease function of the present invention when the latch up increase and decrease occurs in the actual control amount;
FIG. 7 is a control process graph of the compensation controller with a latch increasing and decreasing function according to the embodiment of the present application;
fig. 8 is a schematic structural diagram of a latch add/drop active-disturbance-rejection control device according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the following examples, "plurality" means two or more unless specifically limited otherwise.
In the prior art, in order to avoid the controller from falling into a deep saturation state, a latch increasing and decreasing function needs to be arranged for the active disturbance rejection controller. Specifically, according to the effective working range of the executing mechanism or other control requirements, a locking increase and decrease trigger signal is set, when the trigger signal is effective, the controller is in a locking increase or locking decrease state, and the control quantity signal output by the controller is forbidden to increase or decrease. However, if only the externally triggered latch up/down signal is used as the operation mode determination condition, when the latch up/down signal is present externally, the controller output is actually in the bidirectional frozen state, and a reasonable control amount signal cannot be output, thereby degrading the control performance of the active disturbance rejection controller.
In order to solve the above problems, the method, the device and the electronic device for controlling the blocking increase/decrease of the active disturbance rejection provided by the embodiment of the present application obtain a current set value, a historical expansion state variable, a historical observation compensation quantity and a current controlled quantity of the active disturbance rejection controller; determining the current control quantity expected increment of the active disturbance rejection controller according to the current set value, the historical expansion state variable, the historical observation compensation quantity and the current controlled quantity of the active disturbance rejection controller; determining the current working mode of the active disturbance rejection controller according to preset locking increase and decrease trigger logic and the current control quantity expected increment; the working modes comprise a control mode, a locking increasing mode and a locking decreasing mode. According to the method provided by the scheme, the working mode of the active disturbance rejection controller is adjusted according to the current control quantity expected increment of the active disturbance rejection controller, so that the reliability of the judgment result of the working mode is improved, the automatic and stable switching of the active disturbance rejection controller between the control mode and the locking increase and decrease mode is realized, and the control performance of the active disturbance rejection controller is improved.
The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
First, a configuration of a latch up/down active disturbance rejection control system according to the present application will be described:
the method and the device for controlling the locking increase and decrease of the active disturbance rejection and the electronic equipment are suitable for performing the active disturbance rejection control on the controlled equipment. As shown in fig. 1, the schematic structural diagram of the latch-up and decrease active disturbance rejection control system according to the embodiment of the present application mainly includes a controlled device, an active disturbance rejection controller, and a latch-up and decrease active disturbance rejection control device for implementing the latch-up and decrease active disturbance rejection control. Specifically, the current working mode of the active-disturbance-rejection controller can be controlled by the latching increase-decrease active-disturbance-rejection control device, and then the active-disturbance-rejection controller is driven to control the controlled device.
The embodiment of the application provides a locking increase and decrease active disturbance rejection control method, which is applied to an active disturbance rejection controller and used for performing active disturbance rejection control on controlled equipment. The execution subject of the embodiment of the present application is an electronic device, such as a server, a desktop computer, a notebook computer, a tablet computer, and other electronic devices that can be used for blocking add-drop-auto-disturbance-rejection control.
As shown in fig. 2, a schematic flow chart of a blocking add-drop-auto-disturbance-rejection control method provided in an embodiment of the present application is shown, where the method includes:
The current controlled quantity refers to a current value of a certain parameter of the currently controlled device.
And step 202, determining the current control quantity expected increment of the active disturbance rejection controller according to the current set value, the historical expansion state variable, the historical observation compensation quantity and the current controlled quantity of the active disturbance rejection controller.
The expected control amount increment corresponds to an amount of change caused by normal calculation from the control amount at the time k. Therefore, the method provided by the embodiment of the application can not generate additional disturbance on the output control quantity at the time of the operation mode conversion.
And step 203, determining the current working mode of the active disturbance rejection controller according to the preset locking increase and decrease trigger logic and the current control quantity expected increment.
The working modes comprise a control mode, a locking increasing mode and a locking decreasing mode.
Specifically, the increase and decrease conditions of the control quantity of the active disturbance rejection controller can be determined according to information such as the current set value, the historical expansion state variable, the historical observation compensation quantity and the current controlled quantity of the active disturbance rejection controller, and then whether the current working mode of the active disturbance rejection controller is the control mode, the lock increasing mode or the lock decreasing mode is judged, so that the reliability of the working mode judgment result is improved.
The significance of the judgment of the working mode of the controller is that when the locking and reducing logic is triggered externally and the control quantity calculated in the controller is in a reducing trend, the controller is in a locking and reducing state, and the control quantity is kept unchanged; when the locking increasing logic is triggered externally and the control quantity calculated in the controller is in an increasing trend, the controller is in a locking increasing state, and the control quantity is also kept unchanged; and the controller operates normally under other conditions.
Specifically, in an embodiment, in order to further improve the reliability of the determination result of the operation mode, the expected increment of the control amount of the active disturbance rejection controller may be calculated according to the following formula:
wherein u isf(k-1) represents the observed offset at time k-1, r (-) represents the set value, y (k) represents the controlled quantity at time k, z1(k-1) represents a first expansion state variable at time k-1, z2(k-1) represents a second expansion state variable at time k-1, b0Representing a preset first control intensity factor, b0∈[0.5,+∞)，kpSecond indicating a presetControlling the intensity coefficient, beta1Representing a preset first calculation parameter, beta2Represents a preset second calculation parameter, and t represents a calculation period.
Further, a trend of change of the control quantity internally calculated by the active disturbance rejection controller is determined according to the expected increment of the control quantity of the active disturbance rejection controller.
Wherein the trend of the control amount
Accordingly, in one embodiment, the current operating mode of the active disturbance rejection controller may be determined according to the following latch up and down trigger logic:
wherein BID (k) is 0 to indicate no blocking signal, BID (k) is 1 to indicate blocking minus signal, BID (k) is 2 to indicate blocking plus signal; du (k) is 0 indicating that the control amount internally calculated by the active disturbance rejection controller is unchanged (the current control amount expected increment is 0) compared to the time k-1, du (k) is 1 indicating that the control amount is reduced (the current control amount expected increment is less than 0), and du (k) is 2 indicating that the control amount is increased (the current control amount expected increment is greater than 0); mode (k) is 1 to indicate that the controller is in the lock increasing mode, mode (k) is 2 to indicate the lock decreasing mode, and mode (k) is 0 to indicate the normal operation mode.
On the basis of the above embodiments, in consideration of the fact that the thermal process has large inertia, a compensation structure needs to be added in front of the extended state observer to improve the closed-loop control effect, and as an implementable manner, in an embodiment, the method further includes:
and 301, acquiring a current control quantity and a current linear feedback value of the active disturbance rejection controller.
The current control variable is a control variable signal commanded by an actuator of the active disturbance rejection controller, and the current linear feedback value is a linear feedback value fed back by the linear feedback device with respect to the current control variable. The working modes at least comprise a control mode, a locking increasing mode and a locking decreasing mode.
And step 302, when the current working mode of the active disturbance rejection controller is the control mode, determining the current observation compensation amount according to the current linear feedback value.
It should be noted that, in the normal operating mode, for a controlled process with large inertia, the change of the control quantity is slow, and the subsequent observation effect of the extended state observer is affected. Moreover, when the working mode of the active disturbance rejection controller jumps from the lock-up mode or the lock-down mode to the control mode, the change speed of the control quantity is relatively slow, and the subsequent observation effect of the extended state observer is also influenced. Therefore, the method for controlling the locking increase and decrease of the active disturbance rejection provided by the embodiment of the application adds a compensation link to make up for the problems.
Wherein, the compensation link is a high-order inertia link and outputs an observation compensation amount ufLinear feedback value u is input with the last time signal (control quantity) based thereonPDAnd (4) changing.
And step 303, when the current working mode of the active disturbance rejection controller is the locked increasing mode or the locked decreasing mode, determining the current control quantity of the active disturbance rejection controller as the current observation compensation quantity.
Specifically, since the active disturbance rejection control does not need to perform control quantity compensation in the locked increasing mode or the locked decreasing mode, and the subsequent observation rule of the extended state observer is adapted to determine the extended state variable by using the observation compensation quantity, when the current working mode of the active disturbance rejection controller is the locked increasing mode or the locked decreasing mode, the current control quantity of the active disturbance rejection controller can be directly used as the current observation compensation quantity.
And step 304, updating the expansion state variable of the active disturbance rejection controller according to the current working mode, the current observation compensation quantity and the current controlled quantity of the active disturbance rejection controller.
It should be noted that, in the extended state observer in the prior art, the extended state variable is usually updated according to the current control quantity of the active disturbance rejection controller. In the embodiment of the application, the current control quantity can be replaced by the current observation compensation quantity, so that the updating work of the expansion state variable is completed, the currently updated expansion state variable is more fit with the actual situation, and the control effect of the active disturbance rejection controller is favorably improved.
The updating process of the expansion state variable of the active disturbance rejection controller may be adjusted by itself in combination with the actual application scenario, and the embodiment of the present application is not limited specifically.
On the basis of the above embodiment, in order to improve the reliability of the determined observation compensation amount, as an implementable manner, in an embodiment, when the current operation mode of the active disturbance rejection controller is the control mode, the observation compensation amount may be calculated according to the following formula:
wherein u isf(k) Represents the observed offset at time k, uPD(k) Linear feedback value, T, representing time k0Represents a preset compensation period, T represents a preset control period, and T represents a calculation period, which may also be represented as Δ T.
Correspondingly, when the current working mode of the active disturbance rejection controller is a blocking increasing mode or a blocking decreasing mode, uf(k)＝uA(k)。
Wherein n and T0To compensate for adjustable parameters of the link, uf(k) Represents the observed offset at time k, uPD(k) Linear feedback value at time k, T calculation period, T0And representing the inertia time constant of the preset compensation link.
In particular, the controlled process may be identified as K/(T s +1)nAnd K represents a control gain, and the controlled process can be converted into the form by means of least squares or genetic algorithm. Setting the compensation link as 1/(T)0*s+1)n。
Wherein the output u of the compensation linkfThe expression is as follows:
further, in one embodiment, the first expansion state variable may be updated according to the following equation:
updating the second expansion state variable according to the following formula:
wherein z is1(k) A first extended state variable, z, representing time k2(k) A second extended state variable indicating time k, mode (k) 1,2 indicates that the current operation mode of the active disturbance rejection controller is the lock up mode or the lock down mode, mode (k) 0 indicates that the current operation mode of the active disturbance rejection controller is the control mode, y (k) indicates a controlled variable at time k, r (k) indicates a set value at time k,0representing a preset first control intensity factor, kpRepresenting a preset second control intensity factor, beta1Representing a preset first calculation parameter, beta2Representing a preset second calculation parameter.
Wherein, the calculation period t can be understood as a time difference between the time k and the time k-1, and the first calculation parameter β provided in the embodiment of the present application1The second calculation parameter beta2A first control intensity coefficient b0And a second control intensity coefficient kpAll adjustable parameters are manually preset, and can be specifically set according to actual conditions, and the embodiment of the application is not limited.
Specifically, updating a first expansion state variable according to the current observation compensation quantity and the current controlled quantity; the first expansion state variable is used for feeding back an observation result of the controlled variable output condition of the active disturbance rejection controller; updating a second expansion state variable according to the updated first expansion state variable and the current controlled variable; and the second expansion state variable is used for feeding back an observation result of the disturbance degree of the active disturbance rejection controller.
It should be noted that the extended state observer is a component of the active disturbance rejection controller, and may be specifically understood as a device used by the active disturbance rejection controller to observe and control the disturbance degree.
Further, in an embodiment, when the current working mode of the active disturbance rejection controller is the control mode, the current setting value of the active disturbance rejection controller may be obtained; and updating the linear feedback value according to the current set value by using the updated first expansion state variable and the updated second expansion state variable.
Specifically, the linear feedback value may be updated based on the following formula:
wherein u isPD(k) Representing the linear feedback value at time k.
Further, the control quantity of the active disturbance rejection controller can be updated according to the updated linear feedback value, and the specific updating principle is as follows:
wherein u isA(k) Indicating the amount of control at time k.
Specifically, when the active disturbance rejection controller is switched from the normal operating mode to the latch increasing and decreasing mode, the control method provided in the embodiment of the present application keeps the value of the control variable signal of the active disturbance rejection controller unchanged at the previous time. Meanwhile, in order to ensure that when the controller is switched from the locking increase/decrease mode to the normal operation mode, the controlled variable does not jump unnecessarily, other state quantities also need to be updated synchronously, wherein the other state quantities mainly comprise the expansion state variable and the linear feedback value.
For example, in the embodiment of the present application, the latch increase and decrease logic triggers but does not switch to the latch mode, and the specific principle is as follows: when the controller works normally at the time k-1, MODE (k-1) is 0, external locking increasing and decreasing logic triggering is carried out at the time k, the increasing and decreasing trend of the control amount is inconsistent with the increasing and decreasing trend, and when MODE (k) is 0, the controller is still in a normal working MODE. At this time, the control amount expected increase is, compared to the previous time:
if the set value is not changed, the following steps are provided:
correspondingly, when the active disturbance rejection controller is switched from the locking MODE to the control MODE, the controller is in a locking increasing or locking decreasing state at the time k-1, MODE (k-1) is 1, the external locking increasing or decreasing trigger signal disappears at the time k, or the control quantity trend calculated in the controller is inconsistent with the locking signal, and MODE (k) is 0, and the controller is switched to a normal working state. According to the algorithm, there are:
time k-1:
and time k:
according to the above updating algorithm, the derived control quantity signal at the time k is:
the expected increment of the control quantity internally calculated by the controller at this time is:
therefore, there are:
uA(k)＝uA(k-1)+H(k)
that is, when the controller is switched from the lock increasing and decreasing mode to the normal control mode, the control quantity is changed with the amplitude H (k) at the switching moment of the working mode, the change quantity is equal to the change quantity brought by normal calculation from the control quantity at the moment k, and no additional disturbance exists. Therefore, in the active disturbance rejection control method provided by the embodiment of the application, no additional disturbance is generated in the output control quantity at the time of switching the working mode.
Fig. 3 is a configuration logic diagram of a conventional active disturbance rejection controller, and fig. 4 is a configuration logic diagram of a compensating active disturbance rejection controller with latch up increase and decrease provided in the embodiment of the present application, so that a person skilled in the art can better understand the latch up increase and decrease active disturbance rejection control method provided in the embodiment of the present application, the embodiment of the present application provides the following exemplary implementation processes:
a compensation type active disturbance rejection controller with a locking increasing and decreasing function is designed by taking the water level of a No. 1 high-pressure heater of a thermal power generating unit simulator as a controlled variable and taking the opening of a drain valve as a controlled variable. Firstly, setting a No. 1 high-pressure heater drain regulating valve to be in a manual state, then enabling the opening of the valve to generate 5% step change, recording a fly-up curve of a water level, and identifying and obtaining a system open-loop transfer function as follows: g(s) ═ 11.76/(142.13s + 1). According to the method provided by the embodiment of the application, the calculation step length is taken as t ═ 1, and the obtained control parameters are as follows:
kp＝0.3,β1＝0.6,β2＝0.09,b0＝0.5,t＝142,n＝1
fig. 5 is a graph of the closed loop response of the compensated active disturbance rejection controller with latch up and down functions during the set point step. It can be seen that the tracking response of the closed loop system is fast, the overshoot and steady-state error are basically avoided, and the control effect under the control mode is good.
Next, the latch-up increasing and decreasing function of the active disturbance rejection controller provided in the embodiment of the present application is verified.
Fig. 6 is a control graph of the active disturbance rejection controller without the latch up increasing and decreasing function of the present invention when the latch up increasing and decreasing occurs in the actual control amount. It can be seen that if the controller does not have the function of locking increase and decrease, when the locking decrease signal is triggered, the opening of the trap actually enters a bidirectional locking state, and the opening can not be increased or decreased; when the blocking and subtracting signal is released, the opening of the trap is suddenly changed to a larger extent. The stronger the proportional action of the controller is, or the longer the actual controlled variable is locked, the larger the jump of the controlled variable is, and accordingly the greater the damage to the safe and stable operation of the system is.
Fig. 7 is a control process graph of the compensation type controller with the latch increasing and decreasing function according to the embodiment of the present application. It can be seen that when the locking decreasing signal is triggered, the opening of the trap enters the locking decreasing state, and is firstly kept unchanged and then slightly rises, so that the trap has a one-way locking function. When the locking decreasing signal is released, the opening of the drainage valve is changed from the locking decreasing state to the normal working state, and the drainage valve firstly descends and then ascends and gradually stabilizes. The opening of the trap changes smoothly during the switching process, and the lock increasing and decreasing function provided by the embodiment of the present application is effective. Therefore, the method provided by the embodiment of the application can further widen the application range of the active disturbance rejection control in the actual engineering, and has important significance for ensuring the control quality and improving the safe operation.
The method for controlling the blocking increase and decrease of the active disturbance rejection, provided by the embodiment of the application, comprises the steps of obtaining a current set value, a historical expansion state variable, a historical observation compensation quantity and a current controlled quantity of an active disturbance rejection controller; determining the current control quantity expected increment of the active disturbance rejection controller according to the current set value, the historical expansion state variable, the historical observation compensation quantity and the current controlled quantity of the active disturbance rejection controller; determining the current working mode of the active disturbance rejection controller according to preset locking increase and decrease trigger logic and the current control quantity expected increment; the working modes comprise a control mode, a locking increasing mode and a locking decreasing mode. According to the method provided by the scheme, the working mode of the active disturbance rejection controller is adjusted according to the current control quantity expected increment of the active disturbance rejection controller, so that the reliability of the judgment result of the working mode is improved, and the control performance of the active disturbance rejection controller is improved. And the observation compensation quantity is used for replacing the control quantity to determine the extended state variable, so that the reliability of the observation result of the extended state observer is improved, and a foundation is laid for improving the control performance of the active disturbance rejection controller. Moreover, when external locking increasing and decreasing logic is triggered, the locking increasing or locking decreasing of the control quantity signal of the active disturbance rejection controller can be realized, and the operation safety is ensured; when external locking increasing and decreasing logic is recovered, the normal control function can be rapidly and stably recovered, and the control performance reduction caused by deep saturation is avoided. The design and parameter setting of the controller can be realized by programming, and can also be realized by utilizing the configuration of common logic modules and operation modules in the configuration environment of a control system, thereby having engineering application value.
The embodiment of the application provides a locking increase and decrease active disturbance rejection control device, which is applied to an active disturbance rejection controller with a compensation structure and used for executing the locking increase and decrease active disturbance rejection control method provided by the embodiment.
Fig. 8 is a schematic structural diagram of a blocking add/drop active-disturbance-rejection control device according to an embodiment of the present application. The lock-up active disturbance rejection controller 80 includes: an acquisition module 801, a determination module 802 and a control module 803.
The acquisition module is used for acquiring a current set value, a historical expansion state variable, a historical observation compensation quantity and a current controlled quantity of the active disturbance rejection controller; the determining module is used for determining the current control quantity expected increment of the active disturbance rejection controller according to the current set value, the historical expansion state variable, the historical observation compensation quantity and the current controlled quantity of the active disturbance rejection controller; the control module is used for determining the current working mode of the active disturbance rejection controller according to the preset locking increase and decrease trigger logic and the current control quantity expected increment; the working modes comprise a control mode, a locking increasing mode and a locking decreasing mode.
With regard to the latch up and down active disturbance rejection control apparatus in the present embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The latching increase and decrease active-disturbance-rejection control device provided in the embodiment of the present application is used for executing the latching increase and decrease active-disturbance-rejection control method provided in the above embodiment, and the implementation manner and the principle thereof are the same and are not described again.
The embodiment of the application provides electronic equipment for executing the latching increase and decrease active-disturbance-rejection control method provided by the embodiment.
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device 90 includes: at least one processor 91 and memory 92;
the memory stores computer-executable instructions; the at least one processor executes computer-executable instructions stored in the memory to cause the at least one processor to perform the latch add/drop active disturbance rejection control method provided by the above embodiments.
The electronic device provided in the embodiment of the present application is configured to execute the latching increase/decrease active-disturbance-rejection control method provided in the above embodiment, and an implementation manner and a principle thereof are the same and are not described again.
The embodiment of the present application provides a computer-readable storage medium, where computer execution instructions are stored in the computer-readable storage medium, and when a processor executes the computer execution instructions, the method for controlling blocking add/drop active disturbance rejection provided in any of the above embodiments is implemented.
The storage medium including the computer executable instructions of the embodiments of the present application may be used to store the computer executable instructions of the blocking increase and decrease active disturbance rejection control method provided in the foregoing embodiments, and the implementation manner and the principle thereof are the same, and are not described again.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A latch up and down active disturbance rejection control method is applied to an active disturbance rejection controller with a compensation structure, and is characterized by comprising the following steps:
acquiring a current set value, a historical expansion state variable, a historical observation compensation quantity and a current controlled quantity of the active disturbance rejection controller;
determining the current control quantity expected increment of the active disturbance rejection controller according to the current set value, the historical expansion state variable, the historical observation compensation quantity and the current controlled quantity of the active disturbance rejection controller;
determining the current working mode of the active disturbance rejection controller according to a preset locking increase and decrease trigger logic and the current control quantity expected increment; wherein the operating modes include a control mode, a lock-up mode, and a lock-down mode.
2. The method of claim 1, wherein determining the expected increment of the current controlled variable of the active disturbance rejection controller according to the current set point, the historical state variable for expansion, the historical compensation amount for observation, and the current controlled variable of the active disturbance rejection controller comprises:
calculating an expected increment of a control quantity of the active disturbance rejection controller according to the following formula:
wherein u isf(k-1) represents the observed offset at time k-1, r (-) represents the set value, y (k) represents the controlled quantity at time k, z1(k-1) represents a first expansion state variable at time k-1, z2(k-1) represents the second expansion state variable at time k-1,b0representing a preset first control intensity factor, kpRepresenting a preset second control intensity factor, beta1Representing a preset first calculation parameter, beta2Represents a preset second calculation parameter, and t represents a calculation period.
3. The method of claim 1, wherein determining the current operating mode of the active disturbance rejection controller according to the expected increment of the current control quantity according to the preset latch up and down trigger logic comprises:
determining a current operating mode of the active disturbance rejection controller according to the following latch up and down trigger logic:
where h (k) represents the expected increment of the control quantity of the active disturbance rejection controller, bid (k) is 0 representing no lock signal, bid (k) is 1 representing a lock decreasing signal, bid (k) is 2 representing a lock increasing signal, mode (k) is 1 representing a lock increasing mode, mode (k) is 2 representing a lock decreasing mode, and mode (k) is 0 representing a control mode.
4. The method of claim 1, further comprising:
acquiring the current control quantity and the current linear feedback value of the active disturbance rejection controller;
when the current working mode of the active disturbance rejection controller is a control mode, determining the current observation compensation amount according to the current linear feedback value;
when the current working mode of the active disturbance rejection controller is a locked increasing mode or a locked decreasing mode, determining the current control quantity of the active disturbance rejection controller as the current observation compensation quantity;
and updating the expansion state variable of the active disturbance rejection controller according to the current working mode, the current observation compensation quantity and the current controlled quantity of the active disturbance rejection controller.
5. The method of claim 4, wherein determining the current observed compensation amount according to the current linear feedback value when the current operation mode of the active disturbance rejection controller is the control mode comprises:
when the current working mode of the active disturbance rejection controller is a control mode, calculating an observation compensation amount according to the following formula:
wherein u isf(k) Represents the observed offset at time k, uPD(k) Linear feedback value at time k, T calculation period, T0Representing the inertia time constant of the preset compensation link, and when the transfer function model of the control process is K/(T S +1)nThe compensation link is 1/(T)0*S+1)n。
6. The method of claim 4, wherein updating the extended state variables of the active disturbance rejection controller according to the current operating mode of the active disturbance rejection controller, the current observed compensation amount, and the current controlled amount comprises:
updating the first expansion state variable according to the following formula:
updating the second expansion state variable according to the following formula:
wherein z is1(k) A first extended state variable, z, representing time k2(k) A second expansion state variable indicating time k, mode (k) ═ 1,2 indicates the current operation mode of the active disturbance rejection controllerFor the lock up mode or the lock down mode, mode (k) ═ 0 indicates that the current operation mode of the active disturbance rejection controller is the control mode, y (k) indicates the controlled quantity at the time k, r (k) indicates the set value at the time k, b0Representing a preset first control intensity factor, kpRepresenting a preset second control intensity factor, beta1Representing a preset first calculation parameter, beta2Representing a preset second calculation parameter.
7. The method of claim 6, further comprising:
acquiring a current set value of the active disturbance rejection controller;
and updating the linear feedback value according to the updated first expansion state variable, the updated second expansion state variable and the current set value.
8. The utility model provides a shutting increase and decrease auto-disturbance rejection controlling means, is applied to the auto-disturbance rejection controller who takes compensation structure, its characterized in that includes:
the acquisition module is used for acquiring a current set value, a historical expansion state variable, a historical observation compensation quantity and a current controlled quantity of the active disturbance rejection controller;
the determining module is used for determining the current control quantity expected increment of the active disturbance rejection controller according to the current set value, the historical expansion state variable, the historical observation compensation quantity and the current controlled quantity of the active disturbance rejection controller;
the control module is used for determining the current working mode of the active disturbance rejection controller according to the preset locking increase and decrease trigger logic and the current control quantity expected increment; wherein the operating modes include a control mode, a lock-up mode, and a lock-down mode.
9. An electronic device, comprising: at least one processor and memory;
the memory stores computer-executable instructions;
the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the method of any of claims 1-7.
10. A computer-readable storage medium having computer-executable instructions stored thereon which, when executed by a processor, implement the method of any one of claims 1 to 7.
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