CN114735140B - Method, equipment and medium for compensating disturbance speed of wind power pile boarding trestle - Google Patents
Method, equipment and medium for compensating disturbance speed of wind power pile boarding trestle Download PDFInfo
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- CN114735140B CN114735140B CN202210380956.3A CN202210380956A CN114735140B CN 114735140 B CN114735140 B CN 114735140B CN 202210380956 A CN202210380956 A CN 202210380956A CN 114735140 B CN114735140 B CN 114735140B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
- B63B2017/0072—Seaway compensators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/727—Offshore wind turbines
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Abstract
The invention provides a method, equipment and medium for compensating the interference speed of a wind power pile boarding trestle. According to the method, the interference speed (ship motion speed) compensation mode is introduced and is combined with the interference position compensation, so that the rapidity and the compensation effect of the active motion compensation trestle are improved, the use experience of the trestle lapping process is improved, the accessibility of the wind power pile in severe weather is improved, and the safety of passengers is improved.
Description
Technical Field
The invention belongs to the technical field of offshore wind power boarding trestles with a wave compensation function, and particularly relates to a method, equipment and medium for compensating the interference speed of a wind power pile boarding trestle. In particular to a control method for compensating the movement speed of a ship to improve the movement compensation precision and realize the smooth lap joint of an offshore wind power pile on a trestle under the condition of high sea.
Background
Wind energy is a clean renewable energy source. Compared with land wind power generation, offshore wind power has the advantages of no land occupation, small influence on birds and the like, and in addition, offshore wind power also has the advantages of less calm period, large wind power and the like. China has abundant wind energy in offshore and middle and far seas, and the development of offshore wind power has important significance for optimizing energy structures in China.
However, offshore wind power is more expensive to install and maintain than terrestrial wind power. Under severe weather conditions, the severe shaking of the operation and maintenance ship makes it difficult and dangerous for operation and maintenance personnel to board the wind power pile. An Active Motion Compensation (AMC) trestle enables the tail end of the trestle to keep static relative to a geodetic coordinate system (a wind power pile fixed on the ground) or reduces the influence of sea waves on the movement of the trestle by compensating the movement of a ship with a plurality of degrees of freedom, so that the accessibility of personnel to the wind power pile in severe weather is improved.
The three-degree-of-freedom AMC trestle is mainly composed of a base (B1), a support (B2), a pitching bridge (B3), a telescopic bridge (B4) and an inserting plate (B5) positioned at the tail end of the telescopic bridge, as shown in figure 1. When the inserting plate is inserted into the basic ladder stand of the wind turbine generator platform, maintenance personnel can reach the ladder stand through the support, the pitching bridge and the telescopic bridge to climb to the offshore wind turbine generator platform. According to the requirement of safety regulations, when the distance between the operation and maintenance ship and the ladder stand of the offshore wind turbine generator set does not exceed half of the step length of an adult, the ladder stand of the wind turbine generator set can be used for climbing. However, the influence of sea tides and waves can cause the ladder of the ship and the offshore wind power platform to have a certain distance in the vertical direction and the horizontal direction, and the distance can change along with the shaking of the ship.
The motion measuring unit arranged on the ship can measure the motion of the ship with six degrees of freedom, and the yawing, pitching and heaving motions of the ship are compensated through the (Y1) rotary hydraulic cylinder, the (Y2) pitching hydraulic cylinder and the (Y3) telescopic hydraulic cylinder, so that the displacement change of the (B5) inserting plate relative to the ladder stand is caused. Meanwhile, the whole trestle can also keep a relatively stable state.
When the sea stormy waves are small, an operator can close the active motion compensation function, the proportional valve group is controlled to control the rotation speed, the pitching speed and the motion speed of the piston rod of the telescopic hydraulic cylinder through the operating handle, and the inserting plate at the tail end of the telescopic bridge can be smoothly inserted into the ladder stand to complete the establishment of a personnel channel. In a heavy storm state, the swing of the ship can be amplified by the inserting plate positioned at the tail end of the telescopic bridge, so that the process of inserting the ladder becomes difficult. At this time, it is necessary to turn on the active compensation function, to eliminate or reduce the influence of the roll of the vessel on the insertion plate, and when the operation handle is not operated, the coordinates of the end of the insertion plate are kept stationary with respect to the geodetic coordinate system or the influence of the motion of the vessel is reduced. In order to complete active Motion compensation, motion of a ship in six degrees of freedom needs to be measured by a Motion Reference Unit (MRU), and compensation quantities of a trestle in a rotation degree of freedom, a pitching degree of freedom and a stretching degree of freedom are calculated through a conversion matrix so as to compensate motions of the ship in the directions of yawing, pitching and heaving. In order to keep the insertion plate static relative to a geodetic coordinate system, the active motion compensation trestle needs to compensate the position change of the insertion plate caused by the movement of a ship, so the trestle is controlled by a position servo system in three degrees of freedom of rotation, pitching and stretching, and the extension of a piston rod of a hydraulic cylinder is controlled according to position errors. However, the following problems mainly exist in the active motion compensation process in this compensation method:
(1) Due to the influences of ship motion randomness, MRU sampling delay, hydraulic cylinder motion speed limitation, mechanical clearance of trestle installation and the like, in the working process of the active motion compensation trestle, for relatively high-frequency ship motion, only the measured ship position is used for compensation, tracking delay can be caused, and the compensation effect is poor.
(2) In the process that the operating handle drives the insertion plate to be inserted into the basic ladder of the wind turbine platform under the high sea condition, only the speed control of the operating handle and the position control of active motion compensation are simply superposed, and the experience consistent with the process of the operating handle when the compensation function is closed under the calm sea cannot be obtained, so that the operation is not smooth.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a method, equipment and medium for compensating the disturbance speed of a wind power pile boarding trestle. According to the method, the interference speed (ship motion speed) compensation mode is introduced and is combined with the interference position compensation, so that the rapidity and the compensation effect of the active motion compensation trestle are improved, the use experience of the trestle lapping process is improved, the accessibility of the wind power pile in severe weather is improved, and the safety of passengers is improved.
The invention is realized by the following technical scheme, and provides an interference speed compensation method for a wind power pile boarding trestle, which specifically comprises the following steps:
step 1, setting the position of an insertion plate as x = [ x ] 1 ,x 2 ,x 3 ] T ，x 1 ,x 2 ,x 3 The coordinate values of the insert plate in three coordinate axes of the geodetic coordinate system O-XYZ are respectively expressed as follows:
wherein A, B, C and D are system matrices, u (k) = [ r (k), p (k), s (k)] T Respectively a rotation value, a pitching value and a stretching value of the trestle; d (k) = [ r s (k),p s (k),h s (k)] T Respectively the ship's yaw value, pitch value and heave value, and the output value y = [ x = [ [ x ] 1 ,x 2 ,x 3 ] T K represents a time series;
step 2, changing the equation (1) into a differential form, setting a target function J (k) for wrapping and changing the position and speed tracking error, and determining the increment of the controlled variable through the target function;
step 3, obtaining the increment of the ship motion disturbance through an Extended State Observer (ESO);
step 4, synthesizing the control quantity increment and the interference quantity increment to obtain a final control quantity;
step 5, recording the system state at the moment when the AMC function is started as x (0), and inserting the target position x of the board when the operating handle is not operated r (k) = x (0), target speed of insertion plate
The control quantity at this time is used for compensating the change of the coordinates of the inserting plate caused by the movement of the ship; when in useTarget speed of insert plate when operating handle is actuated
Proportional to the output voltage of the operating handle, x r (k) Is composed of
To track the operation of the handle.
Further, equation (1) is changed to differential form:
in the formula (I), the compound is shown in the specification,
respectively increment of the state quantity, the control quantity and the interference quantity; in the system matrix
O is a zero matrix and I is an identity matrix.
Further, the increments of the control variables are obtained by solving the following objective function, taking into account the magnitude constraint and the velocity constraint of the control variables u (k):
in the formula, N p For predicting the time domain, matrices Q and S are semi-positive definite matrices, matrices R and P are positive definite matrices,
representing a state error, x r (k) For inserting into the target position of the plate, x d (k) The differential of x (k), i.e., the velocity of the insert plate, thus the error includes both position and velocity errors;
increased degrees of freedom for controlled quantity increments
To simulate the increase in the amount of interference.
Further, minimizing the objective function J (k) yields the following control sequence:
therefore, solving the objective function problem at each sampling period can be converted to a quadratic programming as follows:
Subject to Lη≤b
wherein L and b are used to limit the magnitude and speed of the control quantity; the matrices F and H are defined as follows and are obtained by real-time calculation:
status of state
Can be expressed as:
further, formula (5) is adopted to optimize eta in real time * An optimized value of the control quantity increment can be obtained
At the same time, optimized interference value increment can be obtained
The control amount increment can thus be obtained by the following equation:
in which mu (k) is used to compensate for interference
Which pass through
Obtaining; minimize error E (k), μ (k) satisfies
In the formula (I), the compound is shown in the specification,
is an estimate of the interference, while mu (k) is onCalculated by the following formula:
further, in order to obtain the interference increment
Is estimated by
The disturbance is observed using the extended state observer ESO as follows:
in the formula (I), the compound is shown in the specification,
an estimate of the value of the symbol x,
representing the estimated value of the differential of x,
represents an estimate of x second derivative; t is s For the sampling period, θ is the observer gain, k o1 ,k o2 ,k o3 And k o4 Is the observer coefficient; function g i (i =1,2,3,4) is expressed as:
in the formula, alpha 1 ＝γ,α 2 ＝2γ-1,α 3 ＝3γ-2,α 4 4 γ -3, γ ∈ (3/4,1); k is a positive definite matrix; based on the estimation of d (k) by equation (10), the
And calculating μ (k) by equation (9); and then the optimized control variable is
Further, the maximum and minimum values of the control quantity are respectively determined to be u through the stroke of the hydraulic cylinder and the mechanical structure sU 、u sL (ii) a The maximum value and the minimum value of the increment of the control quantity are respectively determined by the flow of the proportional valve
Namely, it is
μ (k) in equation (9) may be re-described as:
in the formula (I), the compound is shown in the specification,
the magnitude constraint of the control quantity can therefore be expressed by the following inequality:
in the formula (I), the compound is shown in the specification,
also, the constraint on the control quantity increment can be expressed by the following inequality:
in the formula (I), the compound is shown in the specification,
and
are respectively as
And
an increment of (d);
the invention provides electronic equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the interference speed compensation method for the wind power pile boarding trestle when executing the computer program.
The invention provides a computer-readable storage medium for storing computer instructions, which when executed by a processor implement the steps of the disturbance speed compensation method for a wind power pile boarding trestle.
The invention has the beneficial effects that:
(1) The difference form of the trestle model is adopted, and the tracking speed error is added into the error, so that the rapidity and the dynamic compensation precision of the active motion compensation are improved;
(2) A value proportional to the output voltage of the operating handle is used as a tracking speed, and the integral of the tracking speed is used as a target position, so that the operating experience of the handle is improved;
(3) The speed limit of the movement of the hydraulic cylinder and the position constraint of the trestle are considered in the control quantity solving control, so that the obtained control quantity is physically feasible control, the emergency brake caused by limiting the movement amplitude by a limit switch is avoided, and the movement stability at the limit position is ensured.
Drawings
FIG. 1 is a schematic diagram of an AMC trestle; wherein Y1 is a rotary hydraulic cylinder; a Y2 pitching hydraulic cylinder; a Y3 telescopic hydraulic cylinder; b1, a base; b2, a support; b3, a pitching bridge; b4, a telescopic bridge; b5 insert plate;
FIG. 2 is a schematic diagram of a trestle lapped wind power pile; wherein B4 telescopic bridge; b5 insert plate; c1, a wind turbine platform; c2 Climbing a ladder;
fig. 3 is a functional block diagram of disturbance speed compensation.
Detailed Description
The technical solutions in the embodiments of the present invention will be described below clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
With reference to fig. 1 to 3, the invention provides a disturbance speed compensation method for a wind power pile boarding trestle, wherein the lapping process of the trestle is as shown in fig. 2, and an insertion plate is inserted into a basic ladder of a wind turbine platform to complete the establishment of a personnel channel; the method specifically comprises the following steps:
step 1, setting the position of an insertion plate as x = [ x ] 1 ,x 2 ,x 3 ] T ，x 1 ,x 2 ,x 3 The coordinate values of the insert plate in three coordinate axes of the geodetic coordinate system O-XYZ are respectively expressed as follows:
wherein A, B, C and D are system matrices, u (k) = [ r (k), p (k), s (k)] T Respectively a rotation value, a pitching value and a stretching value of the trestle; d (k) = [ r = s (k),p s (k),h s (k)] T Respectively yaw value, pitch value and heave value of the ship, and an output value y = [ x = 1 ,x 2 ,x 3 ] T K represents a time series;
step 2, in order to process the rapidly changing ship motion, changing the equation (1) into a difference form, setting a target function J (k) for wrapping and changing position and speed tracking errors, and determining the increment of the control quantity through the target function;
step 3, obtaining the increment of the ship motion disturbance through an Extended State Observer (ESO);
step 4, synthesizing the control quantity increment and the interference quantity increment to obtain a final control quantity;
step 5, recording the system state at the moment when the AMC function is started as x (0), and inserting the target position x of the board when the operating handle is not operated r (k) = x (0), target speed of insertion plate
The control quantity at the moment is used for compensating the change of the coordinates of the inserting plate caused by the movement of the ship, and the error comprises a speed error; inserting the target speed of the plate when the operating handle is actuated
Proportional to the output voltage of the operating handle, x r (k) Is composed of
To track the operation of the handle. Target position of the insert plate in equation (3) when the handle is operated
(integrated values are replaced by accumulated sums in a digitally controlled system), target velocity of the end of the plate is interpolated
(v r Output voltage k for three degrees of freedom of the operating handle v Is a scale factor). The control amount at this time is used to compensate for the change in the coordinates of the insert plate due to the movement of the vessel, and is also responsive to the operation of the handle. By adjusting k v Is obtained by v r Directly control the speed of the proportional valve opening to make the handle operate more smoothly and improve the function of opening the AMCThe operation experience of the rear handle.
Equation (1) is changed to differential form:
in the formula (I), the compound is shown in the specification,
respectively increment of the state quantity, the control quantity and the interference quantity; in the system matrix
O is a zero matrix and I is an identity matrix.
The increments of the control variables are obtained by solving the following objective function, taking into account the magnitude constraint and the velocity constraint of the control variables u (k):
in the formula, N p For predicting the time domain, matrices Q and S are semi-positive definite matrices, matrices R and P are positive definite matrices,
representing a state error, x r (k) For inserting into the target position of the plate, x d (k) The differential of x (k) is the speed of the insert plate, so the error includes both position error and speed error;
increased degree of freedom for controlled quantity increments
To simulate the increase in the amount of interference.
The objective function contains the speed error and the increment of the disturbance quantity (equivalent to the disturbance speed), so that the rapidly changing ship motion can be reflected.
Minimizing the objective function J (k) yields the following control sequence:
therefore, solving the objective function problem at each sampling period can be converted to a quadratic programming as follows:
Subject to Lη≤b
wherein L and b are used to limit the magnitude and speed of the control quantity; the matrices F and H are defined as follows and are obtained by real-time calculation:
state of state
Can be expressed as:
real-time optimization of eta using equation (5) * An optimum value of the control amount increment can be obtained
At the same time, optimized interference value increment can be obtained
The control amount increment can thus be obtained by the following equation:
in which mu (k) is used to compensate for interference
Which pass through
Obtaining; minimizing the error E (k), μ (k) satisfies
In the formula (I), the compound is shown in the specification,
is an estimate of interference, while μ (k) is calculated by:
to obtain an increase in the amount of interference
Is estimated value of
The disturbance is observed using the extended state observer ESO as follows:
in the formula (I), the compound is shown in the specification,
an estimate of the value of x is represented,
represents an estimate of the differential of x,
an estimate representing the x second derivative; t is a unit of s For the sampling period, θ is the observer gain, k o1 ,k o2 ,k o3 And k o4 Is the observer coefficient; function g i (i =1,2,3,4) is expressed as:
in the formula, alpha 1 ＝γ,α 2 ＝2γ-1,α 3 ＝3γ-2,α 4 =4 γ -3, γ ∈ (3/4,1); k is a positive definite matrix; based on the estimation of d (k) by equation (10), the
And calculating μ (k) by equation (9); and then the optimized control variable is
Passing liquidStroke and mechanical structure of pressure cylinder, and maximum and minimum values of control quantity are respectively determined as u sU 、u sL (ii) a The maximum value and the minimum value of the control quantity increment are respectively determined by the flow of the proportional valve
Namely that
μ (k) in equation (9) can be re-described as:
in the formula (I), the compound is shown in the specification,
the magnitude constraint of the control quantity can therefore be expressed by the following inequality:
in the formula (I), the compound is shown in the specification,
also, the constraint on the control quantity increment can be expressed by the following inequality:
in the formula (I), the compound is shown in the specification,
and
are respectively as
And
the increment of (d);
as shown in fig. 3, the system of the active motion compensation method based on disturbance velocity compensation of the present invention includes an operation handle integration unit, a quadratic programming unit, a control quantity calculation unit, an extended state observer unit, a controlled object of a trestle, and an MRU.
The invention provides electronic equipment which comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to realize the steps of the interference speed compensation method for the wind power pile boarding trestle.
The invention provides a computer-readable storage medium for storing computer instructions, which when executed by a processor, implement the steps of the disturbance speed compensation method for a wind power pile boarding trestle.
The method, the device and the medium for compensating the disturbance speed of the wind power pile boarding trestle are introduced in detail, a specific example is applied in the method for explaining the principle and the implementation mode of the method, and the description of the embodiment is only used for helping to understand the method and the core idea of the method; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (4)
1. The method for compensating the disturbance speed of the wind power pile boarding trestle is characterized by comprising the following steps of:
step 1, setting the position of the insertion plateIs x = [) 1 ,x 2 ,x 3 ] T ，x 1 ,x 2 ,x 3 The coordinate values of the insert plate on three coordinate axes of the geodetic coordinate system O-XYZ are respectively shown as follows:
wherein A, B, C and D are system matrices, u (k) = [ r (k), p (k), s (k)] T Respectively a rotation value, a pitching value and a stretching value of the trestle; d (k) = [ r = s (k),p s (k),h s (k)] T Respectively a yawing value, a pitching value and a heaving value of the ship, wherein the output value is y (k), and k represents a time sequence; u (k) is a control variable, and d (k) is an interference quantity;
step 2, changing the equation (1) into a differential form, setting a target function J (k) containing position and speed tracking errors, and determining the increment of the controlled variable through the target function;
step 3, obtaining the increment of the ship motion disturbance through an Extended State Observer (ESO);
step 4, synthesizing the control quantity increment and the interference quantity increment to obtain a final control quantity;
step 5, recording the system state of the moment when the active motion compensation AMC function is started as x (0), and when the operating handle is not operated, inserting the target position x of the board r (k) = x (0), target speed of insertion plate
The control quantity at this time is used for compensating the change of the coordinates of the inserting plate caused by the movement of the ship; inserting the target speed of the plate when the operating handle is actuated
Proportional to the output voltage of the operating handle, x r (k) Is composed of
Is integrated withOperation of the tracking handle;
changing equation (1) to differential form:
in the formula (I), the compound is shown in the specification,
respectively increment of the state quantity, the control quantity and the interference quantity; in the system matrix
O is a zero matrix, and I is an identity matrix;
the increments of the control variables are obtained by solving the following objective function, taking into account the magnitude constraint and the velocity constraint of the control variables u (k):
in the formula, N p For predicting the time domain, matrices Q and S are semi-positive definite matrices, matrices R and P are positive definite matrices,
representing a state error, x r (k) For inserting into the target position of the plate, x d (k) The differential of x (k), i.e., the velocity of the insert plate, thus the error includes both position and velocity tracking errors;
increased degrees of freedom for controlled quantity increments
To model the increment of the interference amount;
minimizing the objective function J (k) yields the following control sequence:
therefore, solving the objective function problem at each sampling period translates into quadratic programming as follows:
wherein L and b are used to limit the magnitude and speed of the control quantity; the matrices F and H are defined as follows and obtained by real-time calculation:
state of state
Expressed as:
real-time optimization of eta using equation (5) * Obtaining an optimized value of the control quantity increment
At the same time, an optimized interference value increment is obtained
The control amount increment is thus obtained by the following formula:
in which mu (k) is used to compensate for interference
Which is passed through
Obtaining; minimize error E (k), μ (k) satisfies
In the formula (I), the compound is shown in the specification,
is an estimate of interference, while μ (k) is calculated by:
to obtain an increase in the amount of interference
Is estimated value of
The disturbance is observed using the extended state observer ESO as follows:
in the formula (I), the compound is shown in the specification,
an estimate of the value of the symbol x,
representing the estimated value of the differential of x,
an estimate representing the x second derivative; t is s For the sampling period, θ is the observer gain, k o1 ,k o2 ,k o3 And k o4 Is the observer coefficient; function g i (i =1,2,3,4) is expressed as:
in the formula, alpha 1 ＝γ,α 2 ＝2γ-1,α 3 ＝3γ-2,α 4 4 γ -3, γ ∈ (3/4,1); k is a positive definite matrix; based on the estimation of d (k) by equation (10), the
And calculating μ (k) by equation (9); the control variable to be optimized is
2. Method according to claim 1, characterized in that the maximum and minimum values of the controlled variable are determined as u, respectively, by the stroke of the hydraulic cylinder and the mechanical structure sU 、u sL (ii) a The maximum value and the minimum value of the control quantity increment are respectively determined by the flow of the proportional valve
Namely that
μ (k) in equation (9) is re-described as:
in the formula (I), the compound is shown in the specification,
the amplitude constraint of the control quantity is therefore expressed by the following inequality:
in the formula (I), the compound is shown in the specification,
also, the constraint of the control quantity increment is expressed by the following inequality:
in the formula (I), the compound is shown in the specification,
and
are respectively as
And
an increment of (d);
3. an electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor, when executing the computer program, performs the steps of the method according to any of claims 1-2.
4. A computer-readable storage medium storing computer instructions, which when executed by a processor, perform the steps of the method of any one of claims 1-2.
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Citations (9)
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