CN116009567A - Robust attitude control method and system for photovoltaic intelligent cleaning robot - Google Patents
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Abstract
The invention discloses a robust attitude control method and a system of a photovoltaic intelligent cleaning robot, which belong to the field of photovoltaic intelligent cleaning robots, wherein an attitude outer ring is used for controlling angles to obtain expected angular rate control quantity, an attitude inner ring is used for controlling angular rate to obtain output information of a final attitude controller, the output information is transmitted to a mixed controller through a message body release receiving structure, input of an actuator is obtained after the processing of the mixed controller, and finally the actuator is used for outputting, so that the robust attitude control of the photovoltaic intelligent cleaning robot is completed; by adopting the method, the algorithm is simplified, the algorithm is more attached to the control model of the photovoltaic intelligent cleaning robot, the workload of parameter adjustment is reduced to a certain extent, the stability and the anti-interference capability of the control of the photovoltaic intelligent cleaning robot are improved, and the method has good popularization and application values.
Description
Technical Field
The invention belongs to the field of intelligent photovoltaic cleaning robots, and particularly relates to a robust attitude control method and system of an intelligent photovoltaic cleaning robot.
Background
At present, the photovoltaic industry chain is gradually and rapidly developed, but with the development of the photovoltaic industry, a plurality of technical problems are correspondingly generated, wherein the cleaning problem is particularly remarkable: the current large-base photovoltaic projects are often concentrated in deserts, gobi and deserts, the natural environment is harsh, drought and water shortage and frequent sand storm occur, and the problem that how to clean a power station in time to ensure the generated energy is the urgent need to be solved; in contrast, industrial and commercial photovoltaic power stations scattered on various roofs have complex project environments, serious industrial dust and small and scattered scale, and how to solve the daily transportation and cleaning of the power stations is also a great difficulty. In fact, according to the photovoltaic investment risk report analysis, dust becomes the most influencing factor of the power generation loss, and exceeds risk factors such as improper installation, glass breakage and the like. Dust not only reduces irradiation intensity, but also generates temperature effect and hot spot effect, influences service life of components, and brings potential safety hazard to power stations.
Earlier, because photovoltaic panels are laid more densely, with respect to traditional photovoltaic cleaning, mainly through manual dry cleaning or water washing, high pressure cleaning car two modes, this inevitably leads to the washing degree of difficulty big, clean inefficiency and with high costs, moreover extravagant water resource easily, probably causes the panel damage simultaneously. The intelligent cleaning robot can well solve the problems, can perform periodic automatic cleaning, does not need manual duty, can run at night, can set running frequency freely, can clean according to field environment periodically, can thoroughly clean dust and dirt on the surface of a component, and can improve power generation efficiency.
Considering that the working environment of the robot is often complex, the working time is long, the control error cannot occur, and the safety and the robustness of the robot are required to be further enhanced. Most of control systems in the market still adopt a traditional PID control algorithm for control, the control precision and the anti-interference capability are weak, and a plurality of extreme cases cannot be dealt with; han Jingqing teaches that the ADRC active disturbance rejection algorithm can better solve the problems of disturbance estimation, parameter estimation and the like in some aspects. In the existing partial active disturbance rejection control system, the combination of the model and the algorithm is still imperfect, the correction is needed, and the ADRC algorithm itself lacks self-adaptability.
Therefore, the existing control method and system are complex in algorithm, large in parameter adjustment workload, and unstable in robot control and easy to interfere due to imperfect combination of models and algorithms.
Disclosure of Invention
In order to solve the technical problems, the invention provides the robust attitude control method and the robust attitude control system for the photovoltaic intelligent cleaning robot, which simplify the algorithm to a certain extent, enable the algorithm to be more attached to the control model of the photovoltaic intelligent cleaning robot, reduce the workload of parameter adjustment to a certain extent, and improve the control stability and the anti-interference capability of the photovoltaic intelligent cleaning robot.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a robust attitude control method of a photovoltaic intelligent cleaning robot comprises the following steps:
s1: acquiring an input quantity of a gesture controller and an actual state quantity of a current system to obtain an outer ring error quantity of the gesture;
s2: the error amount of the attitude outer ring is subjected to proportional processing to obtain expected angular rate information;
s3: the expected angular rate information is subjected to differential processing to obtain tracking quantity of the expected angular rate;
s4: combining the tracking quantity of the expected angular rate with the observed value of the current expected angular rate to obtain an angular rate difference;
s5: and the self-adaptive controller receives the angular velocity difference and the current observed total disturbance value to obtain an output quantity of the gesture controller, and is used for outputting the output quantity of the gesture controller to the hybrid controller, processing the output quantity of the actuator to obtain the input quantity of the actuator, and completing the robust gesture control of the photovoltaic intelligent cleaning robot.
Further, in S1, the input amount of the gesture controller is different from the actual state amount of the current system, so as to obtain the error amount of the gesture outer ring.
Further, in S2, the desired angular rate information is obtained by proportional processing of the attitude outer ring error amount by an outer ring proportional controller.
Further, in S3, the desired angular rate information is differentiated by a tracking differentiator to obtain a tracking amount of the desired angular rate.
Further, the specific formula of the differentiation process is as follows:
wherein δ (t) is desired angular rate information, δ ' is a tracking amount for the desired angular rate, δ ' ' 2 For the tracking amount differentiated from the desired angular rate,
for differentiating the tracking quantity of the desired angular rate, +.>
R is the controller gain of the tracking differentiator, and sign takes a value of 1, 0 or-1, for the differentiation of the tracking amount for differentiating the desired angular rate.
Further, in S4, the tracking amount of the desired angular rate is different from the observed value of the current desired angular rate, so as to obtain an angular rate difference.
Further, in S5, a specific calculation formula of the output u (t) of the gesture controller is as follows:
wherein mu is generalized output error, K m To gain an ideal model, K c In order to be able to adjust the gain adaptively,
k being the differential of the adaptively adjustable gain p For adaptive controller gain, K is the adaptive gain, e (t) is the angular rate difference, u m For the output of the ideal reference model, u' is the output of the controlled system, z 2 (t) is the observed total disturbance value, b 0 The gain is fed back for the adaptive controller.
Further, in S5, the adaptive controller transmits the obtained output quantity of the attitude controller to the second-order extended state observer, and outputs the observed value of the desired angular rate and the observed total disturbance value.
Further, the observed value z of the desired angular rate 1 (t) and the observed total disturbance value z 2 The specific calculation formula of (t) is as follows:
wherein ,
differential amount of observed value for desired angular rate, +.>
To observe the differential quantity of the total disturbance value beta 1 First gain, beta, for second order extended state observer 2 Second gain of second-order extended state observer, e 1 (t) is the first observed error, b 0 Feedback gain for attitude controller, fal () is a nonlinear function, τ 2 Is a time constant.
A robust attitude control system of a photovoltaic intelligent cleaning robot is used for realizing the steps of the robust attitude control method of the photovoltaic intelligent cleaning robot, and comprises the following steps:
the acquisition module is used for acquiring the input quantity of the gesture controller and the actual state quantity of the current system to obtain the error quantity of the gesture outer ring;
the outer ring proportion controller is used for processing the attitude outer ring error quantity to obtain expected angular rate information;
a tracking differentiator for processing the desired angular rate information to obtain a tracking amount for the desired angular rate;
the second-order extended state observer is used for providing a current expected angular rate and a current observed total disturbance value;
and the self-adaptive controller is used for receiving the angular rate difference and the current observed total disturbance value, obtaining the output quantity of the gesture controller and outputting the output quantity of the gesture controller to the hybrid controller.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a robust attitude control method of a photovoltaic intelligent cleaning robot, which comprises the steps of controlling angles by adopting an attitude outer ring to obtain expected angular rate control quantity, controlling the angular rate of the attitude inner ring to obtain output information of a final attitude controller, transmitting the output information to a hybrid controller through a message body release receiving structure, processing the output information by the hybrid controller to obtain input of an actuator, and finally outputting the input by the actuator to complete the robust attitude control of the photovoltaic intelligent cleaning robot; by adopting the method, the algorithm is simplified, the algorithm is more attached to the control model of the photovoltaic intelligent cleaning robot, the workload of parameter adjustment is reduced to a certain extent, the stability and the anti-interference capability of the control of the photovoltaic intelligent cleaning robot are improved, and the method has good popularization and application values.
Further, the attitude outer loop control adopts the traditional P control, the attitude inner loop adopts a first-order active disturbance rejection control algorithm, and compared with the traditional cascade PID control, the control precision of the traditional P control is higher, and the anti-disturbance capability is stronger; in addition, compared with the existing partial active disturbance rejection controller, the traditional P control parameters are fewer, so that parameter adjustment is convenient, and meanwhile, the first-order active disturbance rejection controller is used, so that the actual control model is more attached; the controller part adopts an adaptive controller, so that the adaptability of the algorithm is improved.
The invention also provides a robust attitude control system of the photovoltaic intelligent cleaning robot, which is used for realizing the steps of the robust attitude control method of the photovoltaic intelligent cleaning robot, wherein the system divides the photovoltaic intelligent cleaning robot control into position control and attitude control, namely outer ring control and inner ring control in the photovoltaic intelligent cleaning robot control, and divides the attitude control into attitude outer ring control and attitude inner ring control, wherein the attitude outer ring controls the angle to obtain the expected angular rate control quantity; the angular rate of the attitude inner ring is controlled to obtain final attitude controller output information; the system can simplify the control algorithm, enable the control algorithm to be more fit with the control model of the intelligent cleaning robot, lighten the workload of parameter adjustment to a certain extent, and improve the stability and anti-interference capability of the control of the intelligent cleaning robot.
Drawings
Fig. 1 is a schematic block diagram of a robust attitude control system of a photovoltaic intelligent cleaning robot according to an embodiment of the present invention;
FIG. 2 is a diagram of a step signal simulation result of a conventional cascade PID control system according to an embodiment of the present invention;
fig. 3 is a step signal simulation result diagram of a robust attitude control system of a photovoltaic intelligent cleaning robot provided by an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a robust attitude control system of a photovoltaic intelligent cleaning robot according to an embodiment of the present invention;
fig. 5 is a flowchart of a robust attitude control method of a photovoltaic intelligent cleaning robot.
Detailed Description
The invention provides a robust attitude control method of a photovoltaic intelligent cleaning robot, which is shown in fig. 5 and comprises the following steps:
s1: acquiring an input quantity of a gesture controller and an actual state quantity of a current system to obtain an outer ring error quantity of the gesture;
and the input quantity of the gesture controller is differenced from the actual state quantity of the current system, so that the error quantity of the gesture outer ring is obtained.
S2: the error amount of the attitude outer ring is subjected to proportional processing to obtain expected angular rate information; and the attitude outer ring error amount is subjected to proportional processing by an outer ring proportional controller to obtain the expected angular rate information.
S3: the expected angular rate information is subjected to differential processing to obtain tracking quantity of the expected angular rate; the desired angular rate information is differentiated by a tracking differentiator to obtain a tracking amount of the desired angular rate.
Here, the specific formula of the differentiation process is as follows:
wherein δ (t) is desired angular rate information, δ ' is a tracking amount for the desired angular rate, δ ' ' 2 For the tracking amount differentiated from the desired angular rate,
for differentiating the tracking quantity of the desired angular rate, +.>
R is the controller gain of the tracking differentiator, and sign takes a value of 1, 0 or-1, for the differentiation of the tracking amount for differentiating the desired angular rate.
S4: combining the tracking quantity of the expected angular rate with the observed value of the current expected angular rate to obtain an angular rate difference; and the tracking quantity of the expected angular rate is differenced from the observed value of the current expected angular rate to obtain an angular rate difference.
S5: and the self-adaptive controller receives the angular velocity difference and the current observed total disturbance value to obtain an output quantity of the gesture controller, and is used for outputting the output quantity of the gesture controller to the hybrid controller, processing the output quantity of the actuator to obtain the input quantity of the actuator, and completing the robust gesture control of the photovoltaic intelligent cleaning robot.
Here, the specific calculation formula of the attitude controller output u (t) is as follows:
wherein mu is generalized output error, K m Adding to an ideal modelBenefit, K c In order to be able to adjust the gain adaptively,
k being the differential of the adaptively adjustable gain p For adaptive controller gain, K is the adaptive gain, e (t) is the angular rate difference, u m For the output of the ideal reference model, u' is the output of the controlled system, z 2 (t) is the observed total disturbance value, b 0 The gain is fed back for the adaptive controller.
In addition, the self-adaptive controller transmits the obtained output quantity of the gesture controller to a second-order extended state observer, and outputs an observed value of the expected angular rate and an observed total disturbance value.
Specifically, the observed value z of the desired angular rate 1 (t) and the observed total disturbance value z 2 The calculation formula of (t) is:
wherein ,
differential amount of observed value for desired angular rate, +.>
To observe the differential quantity of the total disturbance value beta 1 First gain, beta, for second order extended state observer 2 Second gain of second-order extended state observer, e 1 (t) is the first observed error, b 0 Feedback gain for attitude controller, fal () is a nonlinear function, τ 2 Is a time constant.
The invention also provides a robust attitude control system of the photovoltaic intelligent cleaning robot, which is used for realizing the steps of the robust attitude control method of the photovoltaic intelligent cleaning robot, and comprises the following steps: the system comprises an acquisition module, an outer ring proportion controller, a tracking differentiator, a second-order expansion state observer and a self-adaptive controller; the acquisition module is used for acquiring the input quantity of the gesture controller and the actual state quantity of the current system to obtain the error quantity of the gesture outer ring; the outer ring proportion controller is used for processing the attitude outer ring error quantity to obtain expected angular rate information; a tracking differentiator for processing the desired angular rate information to obtain a tracking amount for the desired angular rate; the second-order extended state observer is used for providing a current expected angular rate and a current observed total disturbance value; and the self-adaptive controller is used for receiving the angular rate difference and the current observed total disturbance value, obtaining the output quantity of the gesture controller and outputting the output quantity of the gesture controller to the hybrid controller.
Examples
The embodiment provides a robust attitude control method of a photovoltaic intelligent cleaning robot, as shown in fig. 1, ρ (t) represents an input quantity of an attitude controller, namely expected angle information, and y (t) represents an actual state quantity of a system; epsilon (t) is the difference between rho (t) and y (t), represents the error amount of the outer ring of the attitude, and the expected angular rate information delta (t) is obtained through the processing of an outer ring proportional Controller P Controller; delta (t) is processed by a tracking differentiator TD to obtain a tracking quantity delta' for a desired angular rate; observations z of delta' and desired angular rate 1 () Making a difference to obtain an angular rate difference e (t) which is input by the NLSEF controller; e (t) and observed total disturbance value z 2 () As an input to the adaptive controller AC, an attitude controller output u (t) is output; u (t) is transmitted to a second-order extended state observer ESO, and a first observed quantity z is obtained by calculation 1 () And a second observed quantity and z 2 () And simultaneously, u (t) is transmitted to the hybrid controller through the message body release and receiving structure, the input of the actuator is obtained after the processing of the hybrid controller, and finally the output is carried out by the actuator.
As shown in fig. 4, the present embodiment provides a robust attitude control system of a photovoltaic intelligent cleaning robot, which is configured to implement the steps of the robust attitude control method of a photovoltaic intelligent cleaning robot provided in the present embodiment, where the robust attitude control system includes an acquisition module, an outer ring proportional controller, a tracking differentiator, a second-order extended state observer, and an adaptive controller; the system is based on the fact that the photovoltaic intelligent cleaning robot normally moves in only one plane, the pitching and rolling directions move less, the yawing directions move more, and the yawing channel controller is designed independently. That is: the pitch and roll directions use the same controller, while yaw uses another set of controllers. The two can use the same structure and adopt different parameters; the same controller architecture may also be used.
In the design of a control system, the control of the photovoltaic intelligent cleaning robot is divided into position control and attitude control, and the position control and the attitude control are respectively outer ring control and inner ring control in the control of the photovoltaic intelligent cleaning robot. In the attitude control, it can be divided into an outer-attitude loop control and an inner-attitude loop control. The attitude outer ring controls the angle to obtain a desired angular rate control amount; and controlling the angular velocity of the attitude inner ring to obtain final attitude controller output information. The output information is transmitted to the hybrid controller through the message body release receiving structure, the input of the actuator is obtained after the processing of the hybrid controller, and finally the output is carried out by the actuator. The specific formulas involved are as follows:
(1) Tracking differentiator TD:
wherein δ (t) is desired angular rate information, δ ' is a tracking amount for the desired angular rate, δ ' ' 2 For the tracking amount differentiated from the desired angular rate,
for differentiating the tracking quantity of the desired angular rate, +.>
R is the controller gain of the tracking differentiator TD, which is the differentiation amount of the tracking amount differentiating the desired angular rate. sign function, i.e. mathematical sign function:
in practical application, in order to facilitate program operation and engineering application, there are discrete forms as follows:
wherein the fhan function is a fastest control integrated function, k and k+1 respectively represent the current time and the next time, r' is a speed factor, h is a sampling period, and fh represents the running result of the fhan function. And (3) recording:
fsg(x,d)＝(sign(x+d)-sign(x-d))/2
then fh [ ] 1 The h) function can be expressed as:
wherein ,d、a0 、y、x 1 、a 1 、a 2 The method is an operation intermediate quantity, the TD plays a role in the algorithm in filtering processing of expected signals, the fact that the attitude inner ring is subjected to angular rate control is considered, the signal change is very fast, and good control results can be obtained through the filtering processing and then the control.
(2) Adaptive controller AC:
wherein mu is generalized output error, K m To gain an ideal model, K c In order to be able to adjust the gain adaptively,
k being the differential of the adaptively adjustable gain p For adaptive controller gain, K is the adaptive gain, e (t) is the angular rate difference, u m For the output of the ideal reference model, u' is the output of the controlled system, z 2 (t) is the observed total disturbance value, b 0 The gain is fed back for the adaptive controller.
(3) Second-order extended state observer ESO:
wherein ,z1 (t)，z 2 (t) representing a first observed quantity and a second observed quantity, respectively, in this embodiment the observed and total disturbance values for the desired angular rate,
differential amount of observed value for desired angular rate, +.>
For observing the differential quantity of the total disturbance value e 1 And (t) is an observation error. u (t) represents the output quantity. Beta 1 ，β 2 Is two gains of the observer. b 0 Representing the controller feedback gain. The fal function is a nonlinear function. The relationship of e (t) is as follows:
as shown in fig. 2, the present embodiment provides a step signal simulation result diagram using a conventional cascade PID control system, where parameters of the conventional cascade PID control system are artificially given by engineering experience and subjected to parameter tuning. As shown in fig. 3, the embodiment also provides a step signal simulation result diagram of the robust gesture control system of the photovoltaic intelligent cleaning robot, and the self-adaptive part of the control system parameters provided by the embodiment is obtained through system optimization, and the rest is obtained through engineering experience and simulation optimization. In conjunction with fig. 2 and 3, where the dashed line represents the desired signal and the solid line represents the system response, a step signal is given to the steering channel, and it can be seen that compared with the conventional cascade PID control system, the system response speed of the present embodiment is faster, and overshoot is also reduced to some extent. Therefore, the gesture control system has higher robustness and stronger resistance to external interference, and reduces the workload of algorithm parameter adjustment.
The above embodiment is only one of the implementation manners capable of implementing the technical solution of the present invention, and the scope of the claimed invention is not limited to the embodiment, but also includes any changes, substitutions and other implementation manners easily recognized by those skilled in the art within the technical scope of the present invention.
Claims (10)
1. The robust attitude control method of the photovoltaic intelligent cleaning robot is characterized by comprising the following steps of:
s1: acquiring an input quantity of a gesture controller and an actual state quantity of a current system to obtain an outer ring error quantity of the gesture;
s2: the error amount of the attitude outer ring is subjected to proportional processing to obtain expected angular rate information;
s3: the expected angular rate information is subjected to differential processing to obtain tracking quantity of the expected angular rate;
s4: combining the tracking quantity of the expected angular rate with the observed value of the current expected angular rate to obtain an angular rate difference;
s5: and the self-adaptive controller receives the angular velocity difference and the current observed total disturbance value to obtain an output quantity of the gesture controller, and is used for outputting the output quantity of the gesture controller to the hybrid controller, processing the output quantity of the actuator to obtain the input quantity of the actuator, and completing the robust gesture control of the photovoltaic intelligent cleaning robot.
2. The robust attitude control method of a photovoltaic intelligent cleaning robot according to claim 1, wherein in S1, the input quantity of the attitude controller is different from the actual state quantity of the current system, so as to obtain the error quantity of the attitude outer ring.
3. The robust attitude control method of a photovoltaic intelligent cleaning robot according to claim 1, wherein in S2, the attitude outer ring error amount is processed by the outer ring proportional controller to obtain the desired angular rate information.
4. The method for controlling the robust attitude of a photovoltaic intelligent cleaning robot according to claim 1, wherein in S3, the desired angular rate information is obtained by differentiating the desired angular rate by a tracking differentiator.
5. The robust attitude control method for a photovoltaic intelligent cleaning robot according to claim 4, wherein the specific formula of the differential process is as follows:
wherein δ (t) is desired angular rate information, δ ' is a tracking amount for the desired angular rate, δ ' ' 2 For the tracking amount differentiated from the desired angular rate,
for differentiating the tracking quantity of the desired angular rate, +.>
R is the controller gain of the tracking differentiator, and sign takes a value of 1, 0 or-1, for the differentiation of the tracking amount for differentiating the desired angular rate.
6. The robust attitude control method of a photovoltaic intelligent cleaning robot according to claim 1, wherein in S4, the tracking amount of the desired angular rate is different from the observed value of the current desired angular rate, and an angular rate difference is obtained.
7. The robust attitude control method of a photovoltaic intelligent cleaning robot according to claim 1, wherein in S5, a specific calculation formula of the attitude controller output u (t) is as follows:
wherein the method comprises the steps ofMu is generalized output error, K m To gain an ideal model, K c In order to be able to adjust the gain adaptively,
k being the differential of the adaptively adjustable gain p For adaptive controller gain, K is the adaptive gain, e (t) is the angular rate difference, u m For the output of the ideal reference model, u' is the output of the controlled system, z 2 (t) is the observed total disturbance value, b 0 The gain is fed back for the adaptive controller.
8. The robust attitude control method of a photovoltaic intelligent cleaning robot according to claim 7, wherein in S5, the adaptive controller transmits the obtained output of the attitude controller to a second-order extended state observer, and outputs an observed value of a desired angular rate and an observed total disturbance value.
9. The method for controlling the robust attitude of a photovoltaic intelligent cleaning robot according to claim 8, wherein the observed value z of the desired angular rate 1 (t) and the observed total disturbance value z 2 The specific calculation formula of (t) is as follows:
wherein ,
differential amount of observed value for desired angular rate, +.>
To observe the differential quantity of the total disturbance value beta 1 First gain, beta, for second order extended state observer 2 Second gain of second-order extended state observer, e 1 (t) is the first observed error, b 0 The gain is fed back for the attitude controller,fal () is a nonlinear function, τ 2 Is a time constant.
10. A robust attitude control system for a photovoltaic intelligent cleaning robot, for implementing the steps of a method for robust attitude control of a photovoltaic intelligent cleaning robot according to any one of claims 1-9, comprising:
the acquisition module is used for acquiring the input quantity of the gesture controller and the actual state quantity of the current system to obtain the error quantity of the gesture outer ring;
the outer ring proportion controller is used for processing the attitude outer ring error quantity to obtain expected angular rate information;
a tracking differentiator for processing the desired angular rate information to obtain a tracking amount for the desired angular rate;
the second-order extended state observer is used for providing a current expected angular rate and a current observed total disturbance value;
and the self-adaptive controller is used for receiving the angular rate difference and the current observed total disturbance value, obtaining the output quantity of the gesture controller and outputting the output quantity of the gesture controller to the hybrid controller.
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