CN116107220B - Position controller optimization method and device of Smith predictor - Google Patents

Position controller optimization method and device of Smith predictor Download PDF

Info

Publication number
CN116107220B
CN116107220B CN202310392907.6A CN202310392907A CN116107220B CN 116107220 B CN116107220 B CN 116107220B CN 202310392907 A CN202310392907 A CN 202310392907A CN 116107220 B CN116107220 B CN 116107220B
Authority
CN
China
Prior art keywords
smith predictor
model
servo system
visual servo
condition
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202310392907.6A
Other languages
Chinese (zh)
Other versions
CN116107220A (en
Inventor
罗勇
刘凯凯
丁宇
赵兴强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing University of Information Science and Technology
Original Assignee
Nanjing University of Information Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing University of Information Science and Technology filed Critical Nanjing University of Information Science and Technology
Priority to CN202310392907.6A priority Critical patent/CN116107220B/en
Publication of CN116107220A publication Critical patent/CN116107220A/en
Application granted granted Critical
Publication of CN116107220B publication Critical patent/CN116107220B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

The invention discloses a method, a device, equipment and a storage medium for optimizing a position controller of a Smith predictor, which comprise the following steps: acquiring a visual servo system model comprising a Smith predictor and an error transfer function of the visual servo system model; performing stability analysis on the visual servo system model according to the error transfer function to obtain a stability condition of the visual servo system; obtaining the design condition of the position controller of the Smith predictor under the condition of model mismatch according to the stability condition and the uncertainty of the delay model in the Smith predictor; and obtaining the optimal design of the position controller of the Smith predictor according to the design condition of the position controller of the Smith predictor under the condition of model mismatch. The method can quantitatively analyze the influence of the uncertainty of the model on the design of the controller, and provide the optimal design scheme of the position controller of the Smith predictor under the condition of ensuring the strict stability of the system.

Description

Position controller optimization method and device of Smith predictor
Technical Field
The invention relates to a method and a device for optimizing a position controller of a Smith predictor, and belongs to the technical field of controller design of a visual servo system.
Background
In the visual servoing system, tracking control of a moving target is based on the amount of off-target extracted from an image. However, imaging the target on the target surface and extracting the off-target amount take a lot of time, resulting in a significant delay in controlling the closed loop. Since delay causes phase decay, the controller gain of the system is usually limited to a small range in order to ensure control stability, which is an important factor that hinders the improvement of accuracy of the visual servoing system. In order to reduce the influence of delay on the stability of a closed loop, the prior art introduces a Smith predictor widely used in industry for compensating delay into a visual servo system, and separates the delay from the closed loop through model output advanced feedback so as to reduce the limitation of the delay on the gain of a controller. The document Improved Smith predictor control for fast steering mirror system (Iop Conference Series: earth & Environmental Science, 2017) uses a Smith predictor for the first time in a visual servo system based on a velocity object model, and verifies that the Smith predictor can effectively improve the target tracking precision of the system. The document Stabilization Control of Electro-Optical Tracking System with Fiber-Optic Gyroscope Based on Modified Smith Predictor Control Scheme (IEEE Sensors Journal, vol (18), 2018) combines a Smith predictor with a disturbance observer to have the effect of compensating for delay and disturbance. However, the above two applications do not specifically analyze model mismatch limitations on the position controller of the Smith predictor, but merely empirically boost the position controller gain of the Smith predictor to enhance tracking performance, and do not give quantitative design criteria for the position controller, which may lead to a system that does not achieve optimal control performance or that loses stability in the face of extreme conditions.
Disclosure of Invention
In order to solve the problem that a position controller of a Smith predictor control method for a visual servo system has no quantitative design scheme, the invention provides a method and a device for optimizing the position controller of the Smith predictor, and provides the optimal design scheme of the position controller of the Smith predictor under the control stability condition meeting the small gain theorem based on the unmatched degree of a controlled object model.
In order to solve the technical problems, the invention adopts the following technical means:
in a first aspect, the present invention provides a method for optimizing a position controller of a Smith predictor, including the following steps:
acquiring a visual servo system model comprising a Smith predictor and an error transfer function of the visual servo system model;
performing stability analysis on the visual servo system model according to the error transfer function to obtain a stability condition of the visual servo system;
obtaining the design condition of the position controller of the Smith predictor under the condition of model mismatch according to the stability condition and the uncertainty of the delay model in the Smith predictor;
and obtaining the optimal design of the position controller of the Smith predictor according to the design condition of the position controller of the Smith predictor under the condition of model mismatch.
With reference to the first aspect, further, the method for obtaining a visual servo system model including a Smith predictor includes:
measuring the rotation angular velocity of the visual servo system platform through a gyroscope;
acquiring target off-target quantity of a target on a visual servo system platform through a CCD image sensor;
according to the rotation angular velocity, measuring a velocity object model of a visual servo system platform by adopting a frequency response instrument；
From velocity object modelsDesign speed controller by zero pole cancellation method>Forming a speed inner ring closed loop;
position controlled object model based on speed inner loop closed loopAnd sets the position controller +.>Forming a position outer ring closed loop;
controlled object model according to positionConstructing a Smith predictor;
based on velocity object modelSpeed controller->Position controller->And the Smith predictor obtains a visual servo system model.
With reference to the first aspect, further, an error transfer function of a visual servo system model including a Smith predictorS 1 The method comprises the following steps:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,Ein order to track the error in the tracking,Rfor the input signal to be a target,delay for target off-target amount +.>Is used to determine the degree of approximation of (c),Sin order to make the parameters of the complex,Vfor the speed closed loop transfer function +.>，/>For a real object on the visual servo platform, < > for>；
Due toWhen->When (I)>Error transfer function。
In combination with the first aspect, further, stability analysis is performed on the visual servo system model according to the error transfer function, so as to obtain stability conditions of the visual servo system, and the method is as follows:
and transforming an error transfer function of a visual servo system comprising the Smith predictor to obtain:
；
due to the error transfer functionThe stability of the visual servoing system including the Smith predictor is as follows, according to the small gain theorem:
；
order the，/>，/>For->The stability conditions of the visual servoing system including the Smith predictor were:
；
wherein, the liquid crystal display device comprises a liquid crystal display device,jis a sign of an imaginary number and,ωis complex plane frequency.
With reference to the first aspect, further, let uncertainty of the delay model in the Smith predictor beThe method for obtaining the design condition of the position controller of the Smith predictor under the condition of model mismatch comprises the following steps:
according toConverting the stability condition of the visual servo system comprising the Smith predictor into:
；
order the，/>The first sufficient condition for ensuring that the stability condition of the visual servo system including the Smith predictor is satisfied is:
；
calculated according to the sufficient conditionEnsure->The second sufficient condition is:
；
calculated according to the sufficient condition II；
From the following componentsObtain->The design condition of the position controller of the Smith predictor under the condition of model mismatch is +.>。
In combination with the first aspect, further, according to the design condition of the position controller of the Smith predictor under the condition of model mismatch, the optimal design of the position controller of the Smith predictor is obtained, and the method comprises the following steps:
the larger the position controller gain, the larger the tracking ability of the visual servo, the view, under the condition that the stability condition of the visual servo model including the Smith predictor is satisfiedThe optimal design of the position controller in the Smith predictor of the sense servo system is as follows。
In a second aspect, the present invention provides a position controller optimizing apparatus of a Smith predictor, including:
the model acquisition module is used for acquiring a visual servo system model comprising a Smith predictor and an error transfer function of the visual servo system model;
the stability analysis module is used for carrying out stability analysis on the visual servo system model according to the error transfer function to obtain the stability condition of the visual servo system;
the position controller design module is used for obtaining the position controller design condition of the Smith predictor under the condition of model mismatch according to the stability condition and the uncertainty of the delay model in the Smith predictor; and obtaining the optimal design of the position controller of the Smith predictor according to the design condition of the position controller of the Smith predictor under the condition of model mismatch.
With reference to the second aspect, further, the optimal design of the position controller in the Smith predictor of the visual servo system is thatWherein->In the form of a position controller,μuncertainty of delay model in Smith predictor, +.>Delay for target off-target amount in the visual servo system.
In a third aspect, the present invention provides an electronic device, including a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate in accordance with the instructions to perform the steps of the method of the first aspect.
In a fourth aspect, the present invention proposes a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of the first aspect.
The following advantages can be obtained by adopting the technical means:
the invention provides a method, a device, equipment and a storage medium for optimizing a position controller of a Smith predictor of a visual servo system, which are used for carrying out stability analysis according to an error transfer function of the visual servo system based on the Smith predictor, calculating the stability condition of the system, further obtaining the design condition of the position controller of the Smith predictor under the condition of model mismatch, and finally giving out the optimal design of the position controller. The invention has clear thought, simple structure and easy realization in engineering.
Drawings
FIG. 1 is a flow chart of the steps of a method for optimizing a position controller of a Smith predictor according to the present invention;
FIG. 2 is a control block diagram of a visual servoing system based on a Smith predictor in an embodiment of the invention;
FIG. 3 is a graph showing the comparison of the error suppression capability of a single dual closed loop system and a visual servo system optimized by the method of the present invention.
Description of the embodiments
The technical scheme of the invention is further described below with reference to the accompanying drawings.
Example 1:
the invention provides a position controller optimization method for a Smith predictor of a visual servo system, which is shown in figure 1 and comprises the following steps:
and step A, acquiring a visual servo system model comprising a Smith predictor and an error transfer function of the visual servo system model.
In an embodiment of the present invention, as shown in fig. 2, a visual servo system including a Smith predictor, a system acquisition method includes:
and A01, installing a fiber optic gyroscope on the visual servo system platform, and measuring the rotation angular velocity of the visual servo system platform through the gyroscope to form closed-loop control of the velocity.
And A02, installing a CCD image sensor on the visual servo system platform, and acquiring a target off-target amount of a target on the visual servo system platform by an image processing unit based on CCD imaging information of the CCD image sensor to form position closed-loop control.
The fiber-optic gyroscope has high sampling rate and negligible delay; the CCD image sensor has low sampling rate, the image processing unit takes a long time to extract information, so that the extracted target off-target amount contains a large delay, and the delay of the target off-target amount is recorded as。
A03, measuring a speed object model of the visual servo system platform by adopting a frequency response instrument according to the rotation angular velocityIt is +_associated with real objects>Approximately equal, i.e.)>。
In an embodiment of the invention, a velocity object modelThe transfer function of (2) is as follows:
（1）
wherein, the liquid crystal display device comprises a liquid crystal display device,Kfor the gain of the velocity object model,Sin order to make the parameters of the complex,is the frequency of the natural oscillation,ξin order to be a damping coefficient,T e is an electrical time constant.
Step A04, according to the speed object modelDesign speed controller by zero pole cancellation method>Forming a closed loop of the inner speed loop.
In an embodiment of the invention, the speed controllerThe expression of (2) is as follows:
（2）
wherein, the liquid crystal display device comprises a liquid crystal display device,K v for the gain of the speed controller,T 1 is the inertial link time constant.
A05, obtaining a position controlled object model based on a speed inner ring closed loopAnd sets the position controller +.>Forming a position outer ring closed loop.
The inner loop transfer function can be set due to the high bandwidth of the inner loopIn the low frequency range, the model is regarded as ideal model 1, and the outer ring controlled object model can be recorded as +.>Wherein->Is obtained by identifying with frequency response instrument>Of (a), i.e. delay +.>Is a similar value to (a) in the above. Since the outer ring is already a type I system, the position controller is now +.>Is set as a proportional controller. Define position controller->Then the compensated system open loop object transfer function is +.>The system crossing frequency is thus obtained as +.>。
Engineering, systems typically need to be guaranteed at the crossover frequencySo the controller gain is to meet the following condition:
（3）
calculating the formula (1) to obtain the maximum value of the position controller under double closed-loop control。
At this time, the error transfer function of the visual servo system model under the double closed-loop control is examined, as follows:
（4）
wherein, the liquid crystal display device comprises a liquid crystal display device,S 0 is the error of a visual servo system model under double closed-loop controlThe difference transfer function is used to determine the difference between the two,Ein order to track the error in the tracking,Rfor the input signal to be a target,Sis a complex parameter.
Because the visual servo system does not directly compensate the delay in the controlled object at the moment, the gain of the controller is limited by the delay and takes a smaller value, therefore,S 0 the value of (2) is larger and the system error suppression capability is weaker.
Step A06, according to the controlled object model of the positionAnd constructing a Smith predictor, wherein the Smith predictor can approximately separate the delay from the closed loop, so that the gain of the position controller can be greatly improved.
Error transfer function of visual servo system model after Smith predictor is addedS 1 The method comprises the following steps:
（5）
wherein, the liquid crystal display device comprises a liquid crystal display device,delay for target off-target amount +.>Is a similar value to (a) in the above.
Due toWhen->When (I)>Error transfer function. It is apparent that the delay after the addition of the Smith predictor is compensated for at low frequency approximation, and the controller gain can be improved to improve tracking performance. However, it should be noted that due to the existence of model lossAnd the method has a large influence on the stability of the system at medium and high frequencies, so that the controller gain cannot be infinitely increased, and the controller gain is determined according to the degree of model mismatch.
Step A07, velocity object modelSpeed controller->Position controller->And the Smith predictor obtains a visual servo system model.
And B, performing system stability analysis on the vision private system model according to the error transfer function to obtain the stability condition of the vision servo system.
And step B01, converting the formula (5) to obtain:
（6）
step B02, due to the left term in the denominator of equation (6) (i.e) Is a characteristic equation of the first order integration system, so +.>Must be stable, at this point, the stability of the visual servoing system including the Smith predictor is as follows, according to the small gain theorem:
（7）
step B03, order，/>，/>After bringing in equation (7), for +.>The following stability conditions can be obtained:
（8）
wherein, the liquid crystal display device comprises a liquid crystal display device,jis a sign of an imaginary number and,ωis complex plane frequency.
And C, obtaining the design condition of the position controller of the Smith predictor under the condition of model mismatch according to the stability condition and the uncertainty of the delay model in the Smith predictor.
Let uncertainty of delay model in Smith predictor beThe specific operation of step C is as follows:
step C01, according toAnd (3) adopting Euler expansion to the index of the formula (8), resolving the amplitude, and converting the stability condition of the visual servo system comprising the Smith predictor into:
（9）
step C02, order，/>A sufficient condition to ensure that the stability condition (equation (9)) of the visual servoing system including the Smith predictor is satisfied is:
（10）
step C03, calculating according to the sufficient condition one (formula (10))Ensure thatThe second sufficient condition is:
（11）
step C04, calculating according to the sufficient condition II (formula (11))。
Step C05 due toThus get +.>Further, the design condition of the position controller of the Smith predictor under the condition of model mismatch is obtained as +.>。
And D, obtaining the optimal design of the position controller of the Smith predictor according to the design condition of the position controller of the Smith predictor under the condition of model mismatch.
It is known that in the case where the stability condition of the visual servo based on the Smith predictor is satisfied, the greater the controller gain, the greater the tracking ability of the visual servo, and therefore, the optimal design of the position controller in the Smith predictor of the visual servo is。
The following describes the design process and effects of the present invention in detail by way of a specific example:
(1) The system speed transfer function measured by the frequency response meter is as follows:
。
in the embodiment of the invention, the sampling rate of the CCD image sensor is 50Hz, and the delay of the off-target quantity obtained by fitting fluctuates up and down at 0.02 s.
(2) The zero pole cancellation method is adopted, and the designed speed inner loop controller is as follows
。
After the speed closed loop design is completed, the position object model is approximately equal toThe double closed-loop control position controller is designed as +.>。
(3) The Smith predictor is constructed on the outer ring, and the gain of the position controller can be improved because the delay is approximately separated from the position ring. Model uncertainty is assumedThen the position controller after adding the Smith predictor should be designed as +.>。
Under the same experimental condition, the error inhibition capability of the visual servo system added with the Smith predictor after the optimization of the simple double closed loop and the method is compared, the result is shown in figure 3, and the figure 3 is drawn by taking the logarithm of the ratio of the error to the input amplitude under the condition of different frequency input. As can be seen from fig. 3, the Smith predictor visual servo tracking system designed by the method of the present invention is stable, and the error suppression capability is significantly improved at low frequency compared with a simple double closed loop system. Although the error suppression capability of the intermediate frequency is somewhat reduced, this is acceptable because the motion information of the tracked object is typically concentrated at low frequencies, which are relatively more important.
Example 2:
the invention also provides a position controller optimizing device for the Smith predictor of the visual servo system, which comprises a model acquisition module, a stability analysis module and a position controller design module.
The model acquisition module is mainly used for acquiring a visual servo system model comprising a Smith predictor and an error transfer function of the visual servo system model. The specific operation of the model acquisition module is as shown in step a in example 1.
The stability analysis module is mainly used for carrying out stability analysis on the visual servo system model according to the error transfer function to obtain the stability condition of the visual servo system. Specific operation of the stability analysis module as shown in step B of example 1, the expression of the stability condition of the visual servoing system is as follows:
（8）
wherein, the liquid crystal display device comprises a liquid crystal display device,jis a sign of an imaginary number and,ωis complex plane frequency.
The position controller design module is used for obtaining the position controller design condition of the Smith predictor under the condition of model mismatch according to the stability condition and the uncertainty of the delay model in the Smith predictor; and then obtaining the optimal design of the position controller of the Smith predictor according to the design condition of the position controller of the Smith predictor under the condition of model mismatch. The specific operation of the position controller design module is shown in step C, D of example 1.
In the embodiment of the invention, the optimal design of the position controller in the Smith predictor of the visual servo system is as followsWherein->In the form of a position controller,μuncertainty of delay model in Smith predictor, +.>Delay for target off-target amount in the visual servo system.
Example 3:
the invention also provides an electronic device, which comprises a processor and a storage medium; wherein the storage medium is used for storing instructions; the processor is operative to perform the steps of the method of embodiment 1 in accordance with the instructions.
Example 4:
the present invention also proposes a computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, implements the steps of the method in embodiment 1.
Compared with the prior art, the method and the device for the control of the position controller of the Smith predictor have the advantages that stability analysis is carried out according to the error transfer function of the visual servo system based on the Smith predictor, so that the design condition of the position controller of the Smith predictor under the condition of model mismatch is obtained, and finally, the optimal design of the position controller is given. The invention has clear thought, simple structure and easy realization in engineering.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.

Claims (7)

1. A method for optimizing a position controller of a Smith predictor, comprising the steps of:
acquiring a visual servo system model comprising a Smith predictor and an error transfer function of the visual servo system model;
performing stability analysis on the visual servo system model according to the error transfer function to obtain a stability condition of the visual servo system;
obtaining the design condition of the position controller of the Smith predictor under the condition of model mismatch according to the stability condition and the uncertainty of the delay model in the Smith predictor;
obtaining the optimal design of the position controller of the Smith predictor according to the design condition of the position controller of the Smith predictor under the condition of model mismatch;
the method for acquiring the visual servo system model comprising the Smith predictor comprises the following steps:
measuring the rotation angular velocity of the visual servo system platform through a gyroscope;
acquiring target off-target quantity of a target on a visual servo system platform through a CCD image sensor;
according to the rotation angular velocity, measuring a velocity object model of a visual servo system platform by adopting a frequency response instrument
From velocity object modelsDesign of speed controller C by zero pole cancellation method v Forming a speed inner ring closed loop;
position controlled object model based on speed inner loop closed loopAnd a position controller C is arranged p Forming a position outer ring closed loop;
controlled object model according to positionConstructing a Smith predictor;
based on velocity object modelThe speed controller Cv, the position controller Cp and the Smith predictor obtain a visual servo system model;
error transfer function S of visual servo system model comprising Smith predictor 1 The method comprises the following steps:
wherein E is tracking error, R is target input signal, τ m Is the approximate value of delay tau of the target miss distance, S is a complex parameter, V is a speed closed loop transfer function, and V=C v G v /(1+C v G v )，G v For a real object on the vision servo system platform,
since τ is approximately τ m 1, when s is 0,error transfer function->
The optimal design of the position controller in the Smith predictor is as followsWherein C is p And μ is uncertainty of a delay model in the Smith predictor, and τ is delay of target off-target amount in the visual servo system.
2. The method for optimizing a position controller of a Smith predictor according to claim 1, wherein the stability analysis is performed on a visual servo model according to an error transfer function to obtain a stability condition of the visual servo, the method comprising:
transforming an error transfer function of a visual servo system model comprising a Smith predictor to obtain:
due to the error transfer functionThe stability of the visual servoing system including the Smith predictor is as follows, according to the small gain theorem:
let cp=k, v≡1, s=jω, for ω > 0, the stability conditions of the visual servos comprising the Smith predictor are:
where j is an imaginary symbol and ω is a complex plane frequency.
3. The method of optimizing a position controller of a Smith predictor according to claim 2, wherein uncertainty of a delay model in the Smith predictor is set asThe method for obtaining the design condition of the position controller of the Smith predictor under the condition of model mismatch comprises the following steps:
according toConverting the stability condition of the visual servo system comprising the Smith predictor into:
cos(μτω)≥0.5-ω 2 /2k 2 ；
let f 1 (ω)＝cos(μτω)，f 2 (ω)＝0.5-ω 2 /2k 2 The first sufficient condition for ensuring that the stability condition of the visual servo system including the Smith predictor is satisfied is:
obtaining omega/k according to the first calculation of the sufficient condition 2 Not less than mu tau sin (omega mu tau), ensure omega/k 2 The second sufficient condition that ∈τsin (ωμτ) is satisfied is:
calculated according to the sufficient condition II
Is obtained from cos (ωmu tau) less than or equal to 1The position controller design condition of the Smith predictor in the case of model mismatch is +.>
4. A method for optimizing a position controller of a Smith predictor according to claim 3, wherein the method comprises the steps of:
the larger the position controller gain, the greater the tracking ability of the visual servo, the optimal design of the position controller in the Smith predictor of the visual servo is given if the stability condition of the visual servo model including the Smith predictor is satisfied
5. A position controller optimizing apparatus of a Smith predictor, comprising:
the model acquisition module is used for acquiring a visual servo system model comprising a Smith predictor and an error transfer function of the visual servo system model;
the stability analysis module is used for carrying out stability analysis on the visual servo system model according to the error transfer function to obtain the stability condition of the visual servo system;
the position controller design module is used for obtaining the position controller design condition of the Smith predictor under the condition of model mismatch according to the stability condition and the uncertainty of the delay model in the Smith predictor; obtaining the optimal design of the position controller of the Smith predictor according to the design condition of the position controller of the Smith predictor under the condition of model mismatch;
in the model acquisition module, the method for acquiring the visual servo system model comprising the Smith predictor comprises the following steps:
measuring the rotation angular velocity of the visual servo system platform through a gyroscope;
acquiring target off-target quantity of a target on a visual servo system platform through a CCD image sensor;
according to the rotation angular velocity, measuring a velocity object model of a visual servo system platform by adopting a frequency response instrument
From velocity object modelsDesign of speed controller C by zero pole cancellation method v Forming a speed inner ring closed loop;
position controlled object model based on speed inner loop closed loopAnd a position controller C is arranged p Forming a position outer ring closed loop;
controlled object model according to positionConstructing a Smith predictor;
based on velocity object modelSpeed controller C v Position controller C p And a Smith predictor obtains a visual servo system model;
error transfer function S of visual servo system model comprising Smith predictor 1 The method comprises the following steps:
wherein E is tracking error, R is target input signal, τ m Is the approximate value of delay tau of the target miss distance, S is a complex parameter, V is a speed closed loop transfer function, and V=C v G v /(1+C v G v )，G v For a real object on the vision servo system platform,
since τ is approximately τ m 1, when s is 0,error transfer function->
The optimal design of the position controller in the Smith predictor is as followsWherein C is p And μ is uncertainty of a delay model in the Smith predictor, and τ is delay of target off-target amount in the visual servo system.
6. An electronic device, comprising a processor and a storage medium;
the storage medium is used for storing instructions;
the processor being operative according to the instructions to perform the steps of the method according to any one of claims 1 to 4.
7. Computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the method according to any one of claims 1-4.
CN202310392907.6A 2023-04-13 2023-04-13 Position controller optimization method and device of Smith predictor Active CN116107220B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310392907.6A CN116107220B (en) 2023-04-13 2023-04-13 Position controller optimization method and device of Smith predictor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310392907.6A CN116107220B (en) 2023-04-13 2023-04-13 Position controller optimization method and device of Smith predictor

Publications (2)

Publication Number Publication Date
CN116107220A CN116107220A (en) 2023-05-12
CN116107220B true CN116107220B (en) 2023-07-28

Family

ID=86260189

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310392907.6A Active CN116107220B (en) 2023-04-13 2023-04-13 Position controller optimization method and device of Smith predictor

Country Status (1)

Country Link
CN (1) CN116107220B (en)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100472205B1 (en) * 2002-12-21 2005-03-10 한국전자통신연구원 Position Controller And Controlling Method for Time Delay Compensation of the Image Tracker in Electro-Optical Tracking System
US20230172662A1 (en) * 2020-03-31 2023-06-08 Georgia Tech Research Corporation Method and system for mri-guided visual servoing
CN113311873B (en) * 2021-05-07 2022-09-06 中国科学院沈阳自动化研究所 Unmanned aerial vehicle servo tracking method based on vision
CN113985736A (en) * 2021-10-26 2022-01-28 南京信息工程大学 Smith predictor control method and device based on least square
CN115128958A (en) * 2022-07-21 2022-09-30 南京信息工程大学 Photoelectric tracking control method for feedforward improved Smith predictor

Also Published As

Publication number Publication date
CN116107220A (en) 2023-05-12

Similar Documents

Publication Publication Date Title
Mao et al. Design and implementation of continuous finite-time sliding mode control for 2-DOF inertially stabilized platform subject to multiple disturbances
CN115265523B (en) Robot simultaneous positioning and mapping method, device and readable medium
US20130066578A1 (en) Method and device for determining zero-rate offset of a gyroscope, and system comprising the device
Guo et al. Initial alignment for nonlinear inertial navigation systems with multiple disturbances based on enhanced anti-disturbance filtering
US11838636B2 (en) Method for compensating for visual-measurement time lag of electro-optical tracking system
CN108955727B (en) Optical fiber coil performance evaluation method
CN110824453A (en) Unmanned aerial vehicle target motion estimation method based on image tracking and laser ranging
CN107272038B (en) High-precision positioning method and device
Narasimhappa et al. An innovation based random weighting estimation mechanism for denoising fiber optic gyro drift signal
Zhou et al. A high-precision control scheme based on active disturbance rejection control for a three-axis inertially stabilized platform for aerial remote sensing applications
CN111207740A (en) Method, device, equipment and computer readable medium for positioning vehicle
CN117040341A (en) Disturbance estimation method, control method and related device of permanent magnet synchronous motor
CN115615417A (en) Adaptive filtering system construction method, adaptive filtering method and device
CN116107220B (en) Position controller optimization method and device of Smith predictor
Huynh et al. A study on vision-based backstepping control for a target tracking system
CN114022561A (en) Urban area monocular mapping method and system based on GPS constraint and dynamic correction
CN108007457B (en) Monitoring navigation system asynchronous data fusion method based on subdivided time slices
CN115900697B (en) Object motion trail information processing method, electronic equipment and automatic driving vehicle
CN112346485B (en) Photoelectric tracking control method, system, electronic equipment and storage medium
Nguyen et al. Dual rate Kalman filter considering delayed measurement and its application in visual servo
CN105180946A (en) Wideband measurement-based satellite high-precision attitude determination method and system thereof
CN115616630A (en) Method for reducing tide distribution error in research of sea tide load displacement by utilizing GNSS
CN110033088B (en) Method and device for estimating GPS data
Zhao et al. Adaptive double-resampling particle filter algorithm for target tracking
Amalkar et al. Design and implementation of sensorless speed control for induction motor drive using an optimized extended kalman filter

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant