CN116256976A - Active disturbance rejection control system, method and medium - Google Patents
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Abstract
The invention discloses an active disturbance rejection control system, an active disturbance rejection control method and a medium. Wherein the system comprises: the preprocessing unit is used for preprocessing the set output value of the target object and the preset number of current state set values to obtain a current control quantity; the pre-compensation unit is used for carrying out pre-compensation treatment on the current control quantity to obtain a first control quantity; the target mathematical model is used for determining the current output value element of the target object according to the first control quantity; the judging unit is used for sending the current output value to the extended state observer if the current output value is not consistent with the set output value; and the high-order compensation unit is used for carrying out high-order compensation processing on the current control quantity to obtain a second control quantity and sending the second control quantity to the extended state observer. By executing the scheme, the tracking performance and the anti-interference performance of the high-order system can be improved, and good support is provided for further popularization of field application of the active-interference-free controller in the industrial production process.
Description
Technical Field
The present invention relates to the field of automatic control technologies, and in particular, to an active disturbance rejection control system, method, and medium.
Background
The active disturbance rejection controller (Active Disturbance Rejection Control, ADRC) has the capability of taking external disturbance and internal model uncertainty as total disturbance and performing real-time estimation and compensation, so that the active disturbance rejection controller is successfully applied to a coal mill outlet air temperature system, a hearth load system and the like. The thermal process, such as the superheated steam temperature system, the main steam pressure system and the like, can be represented as a typical high-order system formed by connecting first-order inertia links in series.
An improved active disturbance rejection control method for performing high-order compensation in the related art is proposed and successfully applied, and the application of ADRC in industrial process control is promoted. The improved auto-disturbance rejection control method reduces the input quantity asynchronism of the extended state observer (Extend State Observer, ESO) when the high-order system is controlled, reduces the estimation load of the ESO, but does not change the phase lag and the large inertia characteristic of the high-order system, and the response of the high-order system to set value tracking and disturbance is still slow.
Disclosure of Invention
The invention provides an active disturbance rejection control system, an active disturbance rejection control method and a medium, which can improve the tracking performance and the disturbance rejection performance of a high-order system and provide good support for further popularization of field application of an active disturbance rejection controller in an industrial production process.
According to an aspect of the present invention, there is provided an active disturbance rejection control system comprising:
the system comprises a target object and an active disturbance rejection controller, wherein the active disturbance rejection controller comprises a preprocessing unit, a precompensation unit, a judging unit, a high-order compensation unit and an extended state observer; wherein:
the preprocessing unit is respectively connected with the pre-compensation unit and the high-order compensation unit; the target object is respectively connected with the precompensation unit and the judging unit; the extended state observer is respectively connected with the preprocessing unit and the judging unit; the target object comprises a high-order system formed by connecting first-order inertia links in series;
the preprocessing unit is used for preprocessing the set output value of the target object and the preset number of current state set values to obtain a current control quantity, and respectively sending the current control quantity to the pre-compensation unit and the high-order compensation unit; the preset number is associated with the order of the active disturbance rejection controller;
the pre-compensation unit is used for carrying out pre-compensation processing on the current control quantity to obtain a first control quantity, and sending the first control quantity to a target mathematical model of the target object; the first control quantity is used for controlling an executing mechanism of the target object;
The target mathematical model is used for determining a current output value of the target object according to the first control quantity and sending the current output value to the judging unit;
the judging unit is used for sending the current output value to the extended state observer if the current output value is not consistent with the set output value;
the high-order compensation unit is used for carrying out high-order compensation processing on the current control quantity to obtain a second control quantity, and sending the second control quantity to the extended state observer;
the extended state observer is configured to determine the preset number of next state setting values according to the second control amount and the current output value, and send each of the next state setting values to the preprocessing unit;
the preprocessing unit is further configured to perform preprocessing on the set output value of the target object and a preset number of current state set values to obtain a current control amount, and send the current control amount to the operations of the pre-compensation unit and the high-order compensation unit respectively until the current output value is consistent with the set output value, and control the change of the executing mechanism based on the current control amount.
According to another aspect of the present invention, there is provided an active disturbance rejection control method, including: comprising the following steps:
preprocessing a set output value of a target object and a preset number of current state set values through a preprocessing unit to obtain a current control quantity, and respectively sending the current control quantity to a pre-compensation unit and a high-order compensation unit; the preset number is associated with the order of the active disturbance rejection controller; the target object is represented by a target mathematical model;
the pre-compensation unit is used for carrying out pre-compensation processing on the current control quantity to obtain a first control quantity, and the first control quantity is sent to a target mathematical model of the target object; the first control quantity is used for controlling an executing mechanism of the target object;
determining a current output value of the target object according to the first control quantity through the target mathematical model, and sending the current output value to a judging unit;
if the judging unit determines that the current output value is inconsistent with the set output value, the current output value is sent to an extended state observer;
performing high-order compensation processing on the current control quantity through the high-order compensation unit to obtain a second control quantity, and sending the second control quantity to the extended state observer;
Determining the preset number of next state set values according to the second control quantity and the current output value through the extended state observer, and sending each of the next state set values to the preprocessing unit;
and the preprocessing unit is used for taking the next state set value as a current state set value, performing preprocessing on the set output value of the target object and the preset number of current state set values to obtain a current control quantity, and respectively sending the current control quantity to the operation of the pre-compensation unit and the high-order compensation unit until the current output value is consistent with the set output value, and controlling the change of the executing mechanism based on the current control quantity.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the active disturbance rejection control method according to any embodiment of the present invention when executed.
The technical scheme of the embodiment of the invention comprises a target object and an active disturbance rejection controller, wherein the active disturbance rejection controller comprises a preprocessing unit, a precompensation unit, a judging unit, a high-order compensation unit and an extended state observer; wherein: the preprocessing unit is respectively connected with the precompensation unit and the high-order compensation unit; the target object is respectively connected with the precompensation unit and the judging unit; the extended state observer is respectively connected with the preprocessing unit and the judging unit; the target object comprises a high-order system formed by connecting first-order inertia links in series; the preprocessing unit is used for preprocessing the set output value of the target object and the preset number of current state set values to obtain current control quantity, and respectively transmitting the current control quantity to the pre-compensation unit and the high-order compensation unit; the preset number is related to the order of the active disturbance rejection controller; the pre-compensation unit is used for carrying out pre-compensation processing on the current control quantity to obtain a first control quantity and sending the first control quantity to a target mathematical model of the target object; the first control quantity is used for controlling an executing mechanism of the target object; the target mathematical model is used for determining the current output value of the target object according to the first control quantity and sending the current output value to the judging unit; the judging unit is used for sending the current output value to the extended state observer if the current output value is not consistent with the set output value; the high-order compensation unit is used for carrying out high-order compensation processing on the current control quantity to obtain a second control quantity, and sending the second control quantity to the extended state observer; the extended state observer is used for determining a preset number of next state set values according to the second control quantity and the current output value and sending each next state set value to the preprocessing unit; the preprocessing unit is further used for taking the next state set value as a current state set value, returning to execute the preset output value of the target object and the preset number of the current state set values to obtain a current control quantity, and respectively sending the current control quantity to the operation of the pre-compensation unit and the high-order compensation unit until the current output value is consistent with the set output value, and controlling the change of the executing mechanism based on the current control quantity. By executing the scheme provided by the embodiment of the invention, the tracking performance and the anti-interference performance of the high-order system can be improved, and good support is provided for further popularization of field application of the active-interference-free controller in the industrial production process.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1a is a schematic diagram of an active disturbance rejection control system according to an embodiment of the present invention;
FIG. 1b is a schematic diagram of an m-stage auto-disturbance-rejection controller with pre-compensation according to an embodiment of the present invention;
FIG. 1c is a schematic diagram of a first-order auto-disturbance-rejection controller with pre-compensation according to an embodiment of the present invention;
FIG. 1d is a block diagram of an improved active disturbance rejection controller for high order compensation according to an embodiment of the present invention;
FIG. 1e is a block diagram of an improved first order linear active disturbance rejection controller with high order compensation according to an embodiment of the present invention;
FIG. 1f is a schematic diagram of a system output response curve under each control scheme obtained by example simulation provided by an embodiment of the present invention;
FIG. 1g is a schematic diagram of a control amount change curve of each control scheme obtained by example simulation provided by an embodiment of the present invention;
fig. 2 is a flowchart of an active disturbance rejection control method according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device implementing an active disturbance rejection control method according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be appreciated that prior to using the technical solutions disclosed in the embodiments of the present disclosure, the user should be informed and authorized of the type, application range, usage scenario, etc. of the personal information related to the present disclosure in an appropriate manner according to the relevant legal regulations.
Fig. 1a is a schematic structural diagram of an active-disturbance-rejection control system according to an embodiment of the present invention, as shown in fig. 1a, where the system includes a target object 11 and an active-disturbance-rejection controller 12, and the active-disturbance-rejection controller 12 includes a preprocessing unit 121, a precompensation unit 122, a judging unit 123, a high-order compensating unit 124, and an extended state observer 125; wherein:
the preprocessing unit 121 is respectively connected with the precompensation unit 122 and the high-order compensation unit 124; the target object 11 is respectively connected with the precompensation unit 122 and the judging unit 123; the extended state observer 125 is connected to the preprocessing unit 121 and the judgment unit 123, respectively; the target object 11 comprises a high-order system formed by connecting first-order inertia links in series;
a preprocessing unit 121, configured to preprocess a set output value of the target object 11 and a preset number of current state set values to obtain a current control amount, and send the current control amount to a precompensation unit 122 and a higher order compensation unit 124 respectively; the preset number is associated with the order of the active-disturbance-rejection controller 12;
A precompensation unit 122, configured to precompensate the current control amount to obtain a first control amount, and send the first control amount to a target mathematical model of the target object 11; the first control amount is used for controlling an actuator of the target object 11;
the target mathematical model is configured to determine a current output value of the target object 11 according to the first control amount, and send the current output value to a judging unit;
a judging unit 123, configured to send the current output value to the extended state observer 125 if it is determined that the current output value is inconsistent with the set output value;
a higher order compensation unit 124, configured to perform higher order compensation processing on the current control amount to obtain a second control amount, and send the second control amount to the extended state observer 125;
an extended state observer 125 configured to determine the preset number of next state setting values according to the second control amount and the current output value, and send each of the next state setting values to the preprocessing unit 121;
the preprocessing unit 121 is further configured to return to perform preprocessing on the set output value of the target object 11 and the preset number of current state set values to obtain a current control amount, and send the current control amount to the operations of the pre-compensation unit 122 and the high-order compensation unit 124 respectively until the current output value is consistent with the set output value, and control the change of the actuator based on the current control amount.
For example, the target object 11 may be set according to actual needs, for example, the target object 11 may be a controlled actual industrial object, for example, an overheat steam temperature system, or a main steam pressure system of a coal-fired unit, and the actual industrial object may be represented as a high-order system formed by connecting first-order inertia links in series. The present solution is specifically explained by taking the target object 11 as the main vapor pressure system as an example.
When the target object 11 is a main steam pressure system, the set output value may be set according to actual needs, for example, the set output value may be a desired pressure value of the main steam pressure system set by a user. The current state set point may be set according to actual needs, for example, the current state set point may be an estimated value for each state of the main steam pressure system. The initial value of the current state set point may be determined by the control amount in the previous active-disturbance-rejection control scheme. The current control amount may be a variable that controls the valve opening of the main steam pressure system. The order of the active disturbance rejection controller 12 may be set according to actual needs, for example, the order of the active disturbance rejection controller 12 may be 1 order, and the order of the active disturbance rejection controller 12 may be 2 order. The preset number may be the order of the active-disturbance-rejection controller 12 plus 1. The preprocessing unit 121 may be set according to actual needs, for example, the preprocessing unit 121 may be a state feedback control law determined by the extended state observer. As shown in fig. 1b, the preprocessing unit 121 may base the preset output value r and the preset number of current state setting values z on the target object 11 on the preprocessing formula
The current output value may be an output pressure value of the main steam pressure system. The target mathematical model can be based on the first control quantity G 2 (s) U determines the current output value y of the target object 11, and sends the current output value y to the judgment unit 123. The judging unit 123 sends the current output value y to the extended state observer 125 if it is determined that the current output value y does not coincide with the set output value r.
The high order compensation unit 124 may be based on a high order compensation formula
The current control quantity u is subjected to high-order compensation processing to obtain a second control quantity u f And a second control amount u f To the extended state observer 125. Wherein u is f The second control amount is represented, T represents the time constant of the target object 11, n represents the order of the target object 11, and m represents the order of the active-disturbance-rejection controller 12. The extended state observer 125 may be based on the differential equation set +.>
According to the second control quantity u f And the current output value y determines a preset number of next state set values and sends each of the next state set values to the preprocessing unit 121. Wherein y represents the current output value, beta i The ith adjustable parameter representing the extended state observer 125 may be determined using a parameter bandwidth method in conjunction with a mathematical model of the target. z i+1 Represents the i+1th next state set value, +.>
Representing z i Is a derivative of (a). The preprocessing unit 121 may perform preprocessing on the set output value of the target object 11 and the preset number of current state set values to obtain a current control amount, and send the current control amount to the operations of the pre-compensation unit 122 and the high-order compensation unit 124 respectively until the current output value y is consistent with the set output value r, determine the value of the current control amount, and control the change of the actuator based on the current control amount, that is, determine the opening of the valve, so as to achieve the purpose of making the output pressure value of the main steam pressure system follow the change of the set output value.
The parameter bandwidth method is utilized to determine the parameters of the m-order active disturbance rejection controller, and the calculation formula is as follows:
wherein k is i Represents the ith adjustable parameter, beta, of the preprocessing unit 121 i The ith adjustable parameter, ω, representing the extended state observer 125 c Is an adjustable controller bandwidth, ω o Is an adjustable observer bandwidth, m represents the order of the active-disturbance-rejection controller 12 utilized.
In particular, for the first order linear active disturbance rejection controller most commonly used in practical industrial processes, the recommended quantitative parameter tuning formula is as follows:
Wherein K, T, n respectively represent the gain factor, time constant, and order of the target object 11. Omega c Represents controller bandwidth, ω o Representing observer bandwidth, b 0 Representing an estimate of the system gain, k e Represents an intermediate variable, and λ represents an adjustable parameter within a certain range.
The technical scheme of the embodiment of the invention comprises a target object and an active disturbance rejection controller, wherein the active disturbance rejection controller comprises a preprocessing unit, a precompensation unit, a judging unit, a high-order compensation unit and an extended state observer; wherein: the preprocessing unit is respectively connected with the precompensation unit and the high-order compensation unit; the target object is respectively connected with the precompensation unit and the judging unit; the extended state observer is respectively connected with the preprocessing unit and the judging unit; the target object comprises a high-order system formed by connecting first-order inertia links in series; the preprocessing unit is used for preprocessing the set output value of the target object and the preset number of current state set values to obtain current control quantity, and respectively transmitting the current control quantity to the pre-compensation unit and the high-order compensation unit; the preset number is related to the order of the active disturbance rejection controller; the pre-compensation unit is used for carrying out pre-compensation processing on the current control quantity to obtain a first control quantity and sending the first control quantity to a target mathematical model of the target object; the first control quantity is used for controlling an executing mechanism of the target object; the target mathematical model is used for determining the current output value of the target object according to the first control quantity and sending the current output value to the judging unit; the judging unit is used for sending the current output value to the extended state observer if the current output value is not consistent with the set output value; the high-order compensation unit is used for carrying out high-order compensation processing on the current control quantity to obtain a second control quantity, and sending the second control quantity to the extended state observer; the extended state observer is used for determining a preset number of next state set values according to the second control quantity and the current output value and sending each next state set value to the preprocessing unit; the preprocessing unit is further used for taking the next state set value as a current state set value, returning to execute the preset output value of the target object and the preset number of the current state set values to obtain a current control quantity, and respectively sending the current control quantity to the operation of the pre-compensation unit and the high-order compensation unit until the current output value is consistent with the set output value, and controlling the change of the executing mechanism based on the current control quantity. By executing the scheme provided by the embodiment of the invention, the tracking performance and the anti-interference performance of the high-order system can be improved, and good support is provided for further popularization of field application of the active-interference-free controller in the industrial production process.
In this embodiment, optionally, the system further includes a state perturbation unit connected to the pre-compensation unit 122 for sending the perturbed state quantity to the pre-compensation unit 122;
the pre-compensation unit 122 is configured to perform pre-compensation processing on the current control amount and the disturbance state amount to obtain a first control amount.
As shown in fig. 1b, the disturbance state quantity d may be a variable affecting the valve opening of the higher-order system, in this embodiment, the state disturbance unit may send the disturbance state quantity d to the precompensation unit 122, and the precompensation unit 122 may precompensate the current control quantity and the disturbance state quantity d based on a precompensation formula to obtain the first control quantity. The control quantity of the active disturbance rejection controller and the external disturbance state quantity can be simultaneously precompensated.
In this embodiment, optionally, the system further includes an output perturbation unit connected to the judgment unit 123, for sending the perturbation output value to the judgment unit 123;
a judging unit 123 configured to determine a target output value according to the disturbance output value and the current output value, and if it is determined that the target output value is inconsistent with the set output value, send the target output value to an extended state observer 125;
In this embodiment, optionally, the system further includes an output perturbation unit connected to the judgment unit 123, for sending the perturbation output value to the judgment unit 123;
a judging unit 123 configured to determine a target output value according to the disturbance output value and the current output value, and if it is determined that the target output value is inconsistent with the set output value, send the target output value to the extended state observer 125;
an extended state observer 125 for determining the preset number of next state setting values according to the second control amount and the target output value, and transmitting each of the next state setting values to the preprocessing unit 121.
As shown in fig. 1b, the disturbance output value w may be a variable affecting the pressure value of the main steam system, and in this embodiment, the output disturbance unit may send the disturbance output value w to the determination unit 123. The judging unit 123 may determine a target output value according to the disturbance output value w and the current output value y, and if it is determined that the target output value does not coincide with the set output value r, send the target output value to the extended state observer 125. The extended state observer 125 may determine a preset number of next state set values according to the second control amount and the target output value based on the differential equation set, and transmit each of the next state set values to the preprocessing unit 121. The output value can be updated according to the disturbance output value and the active disturbance rejection controller.
In a possible embodiment, the preprocessing unit 121 is specifically configured to preprocess the set output value of the target object 11 and the preset number of current state setting values to obtain the current control value based on the following formula:
wherein u represents the current control amount, r (i-1) Representing the i-1 derivative, k, of the set output value r i The i-th adjustable parameter, b, representing the preprocessing unit 121 0 Representing the calculated coefficients, m representing the order, z, of the active disturbance rejection controller 12 i Indicating the ith current state setpoint.
For example, as shown in fig. 1c, assuming that the order of the active disturbance rejection controller 12 is 1, the preset number is 2, and the preprocessing unit 121 mayTo be based on formula
The set output value r for the target object 11 and a preset number of current state set values z 1 、z 2 And preprocessing to obtain the current control quantity u. b 0 、k 1 The determination may be made in conjunction with a target mathematical model of the target object 11 based on a parametric bandwidth method. The determination of the current control quantity can be realized, and a reliable data source is provided for the subsequent steps.
In another possible embodiment, the pre-compensation unit 122 is specifically configured to perform the pre-compensation processing on the current control amount to obtain the first control amount based on the following formula:
Wherein G is 2 (s) U represents a first control amount, T 1 、T 2 Respectively representing the molecular time constant and the denominator time constant of the precompensation unit, p represents the order of the precompensation unit, s represents the Laplacian, T 1 Greater than T 2 。
Exemplary, assume T 1 244, T 2 For 122, p is 1, the precompensation unit 122 in this embodiment may be based on the following formula
Pre-compensating the current control quantity u to obtain a first control quantity G 2 (s) U. The pre-compensation processing of the current control quantity can be realized, and a reliable data source is provided for the subsequent steps.
In yet another possible embodiment, the optional higher-order compensation unit 124 is specifically configured to perform higher-order compensation processing on the current control amount to obtain the second control amount based on the following formula:
wherein u is f The second control amount is represented, T represents the time constant of the target object 11, and n represents the order of the target object 11.
Illustratively, assuming that the order n of the target object 11 is 4 and t is 244, the higher-order compensation unit 124 in this embodiment may be based on the formula
The current control quantity is subjected to high-order compensation processing to obtain a second control quantity u f . The high-order compensation processing of the current control quantity can be realized, and a reliable data source is provided for the subsequent steps.
In yet another possible embodiment, the extended state observer 125 is configured to determine the preset number of next state settings according to the second control amount and the current output value based on the following formula:
wherein y represents the current output value, beta i The ith adjustable parameter, z, representing the extended state observer 125 i+1 Indicating the i +1 th next state set point,
representing z i Is a derivative of (a).
Illustratively, assuming that the order of the active-disturbance-rejection controller 12 is 1, the present scheme may be based on the formula by the extended state observer 125
According to the second control quantity u f And the current output value y determines the preset number of next state set values z 1 、z 2 。/>
Wherein beta is 1 、β 2 B 0 The determination is made according to the parametric bandwidth method,
closed loop control of the active disturbance rejection controller can be achieved.
In addition, in order to further illustrate the technical advantages of the scheme, a high-order compensation improved active disturbance rejection control scheme (MADRC), a standard active disturbance rejection control scheme (ADRC) and a PI control scheme are respectively designed as comparison schemes of a pre-compensation improved active disturbance rejection control scheme (PMARC) proposed by the scheme. FIG. 1d is a block diagram of an improved active disturbance rejection controller for higher order compensation, where r represents the system set point, y represents the system output, u represents the control quantity, d represents the disturbance of the control quantity of the system, w represents the disturbance of the output of the system, z represents the state estimates of the ESO output, K/(Ts+1) n Representing a higher-order system formed by connecting first-order inertia links in series, 1/(Ts+1) n-m Represents a higher order compensation link, u f The control amount u is represented by a control amount formed after a higher-order compensation link, SFCL is represented by a designed state feedback control law (State Feedback Control Law), and ESO is represented by an extended state observer (Extended State Observer) of the designed active disturbance rejection controller.
FIG. 1e is a block diagram of an improved first order linear active disturbance rejection controller for high order compensation, where r represents a system set point, y represents a system output, u represents a control quantity, d represents a control quantity disturbance of the system, w represents an output disturbance of the system, z 1 、z 2 K/(Ts+1) representing each state estimation value of ESO output n Representing a higher-order system formed by connecting first-order inertia links in series, 1/(Ts+1) n-1 Represents a higher order compensation link, u f Representing the control quantity formed by the control quantity u after the higher-order compensation link, SFCL representing the designed state feedback control law (State Feedback Control Law), ESO representing the designed extended state observer (Extended State Observer) of the active disturbance rejection controller, k p 、b 0 Is a parameter of an adjustable active disturbance rejection controller. The parameters of the designed high-order compensation improved active disturbance rejection control scheme (MADRC) are b 0 ＝0.003,ω o ＝0.5,ω c ＝0.0036,
The parameters of the designed standard active disturbance rejection control scheme (ADRC) are b 0 ＝0.012,ω o ＝0.007,ω c =0.0031. The parameter of the designed PI control scheme is k p ＝0.3288,k i =1/1620. The simulation conditions are set to be that the system set value generates upward unit step at 0s, the downward unit step control amount disturbance at 8000s, the sine output disturbance with the amplitude of 0.1 and the period of 3000s is generated at 18000s, and the simulation results are shown in figures 1f-1 g. Fig. 1f is a schematic diagram of the change of the output value under different control schemes, wherein the solid line is the output response curve under the pre-compensation improved active disturbance rejection controller proposed by the scheme, the dotted line is the output response curve under the improved active disturbance rejection controller performing the high-order compensation, the dotted line is the output response curve under the PI controller, and the dash-dot line is the output response curve under the standard ADRC controller. Fig. 1g is a schematic diagram of the variation of the control amount of different control schemes. The solid line is the control quantity change curve of the pre-compensation improved active disturbance rejection controller provided by the scheme, the dotted line is the control quantity change curve of the improved active disturbance rejection controller for high-order compensation, the dotted line is the control quantity change curve of the PI controller, and the dash-dot line is the control quantity change curve of the standard ADRC controller.
In summary, the technical scheme provided by the embodiment of the invention can improve the tracking and anti-interference performance of the improved active-disturbance-rejection control method for performing high-order compensation at the present stage, has obvious technical advantages, and can provide good support for further popularization of field application of the active-disturbance-rejection controller in the industrial production process.
Fig. 2 is a flowchart of an active disturbance rejection control method provided by an embodiment of the present invention, where the present embodiment is applicable to a scenario of improving an active disturbance rejection controller, the active disturbance rejection control method may be performed by an active disturbance rejection control system provided by the embodiment of the present invention, and the active disturbance rejection control system may be implemented by software and/or hardware, and may be generally integrated in an electronic device for active disturbance rejection control. The active-disturbance-rejection control method and the active-disturbance-rejection control system provided by the above embodiments belong to the same public conception, and details which are not described in detail in the method embodiments can be referred to the description in the above embodiments. As shown in fig. 2, the active disturbance rejection control method in the embodiment of the present invention may include:
s210, preprocessing the set output values of the target objects and the preset number of current state set values through a preprocessing unit to obtain current control amounts, and respectively sending the current control amounts to a precompensation unit and a high-order compensation unit.
The preset number is associated with the order of the active disturbance rejection controller; the target object is represented by a target mathematical model.
S220, performing pre-compensation processing on the current control quantity through the pre-compensation unit to obtain a first control quantity, and sending the first control quantity to a target mathematical model of the target object.
The first control amount is used for controlling an actuator of the target object.
In this embodiment, optionally, the method further includes: the disturbance state quantity is sent to the precompensation unit through a state disturbance unit; and performing precompensation processing on the current control quantity and the disturbance state quantity by the precompensation unit to obtain a first control quantity.
S230, determining a current output value of the target object according to the first control quantity through the target mathematical model, and sending the current output value to a judging unit.
S240, if the judging unit determines that the current output value is inconsistent with the set output value, the current output value is sent to an extended state observer.
S250, performing high-order compensation processing on the current control quantity through the high-order compensation unit to obtain a second control quantity, and sending the second control quantity to the extended state observer.
S260, determining the preset number of next state set values according to the second control quantity and the current output value through the extended state observer, and sending each of the next state set values to the preprocessing unit.
S270, the preprocessing unit is used for taking the next state set value as a current state set value, preprocessing is carried out on the set output value of the target object and the preset number of current state set values to obtain a current control quantity, and the current control quantity is respectively sent to the operation of the pre-compensation unit and the high-order compensation unit until the current output value is consistent with the set output value, and the change of the executing mechanism is controlled based on the current control quantity.
In this embodiment, optionally, the method further includes: the disturbance output value is sent to the judging unit through the output disturbance unit; determining, by the determining unit, a target output value according to the disturbance output value and the current output value, and if it is determined that the target output value is inconsistent with the set output value, transmitting the target output value to the extended state observer; determining the preset number of next state set values according to the second control quantity and the target output value through the extended state observer, and sending each of the next state set values to the preprocessing unit.
In a possible implementation manner, optionally, preprocessing, by the preprocessing unit, the set output value of the target object and a preset number of current state set values to obtain a current control quantity includes: the preprocessing unit is used for preprocessing the set output value of the target object and the preset number of current state set values based on the following formula to obtain the current control quantity:
Wherein u represents the current control amount, r (i-1) Representing the i-1 derivative, k, of the set output value r i Representing the ith adjustable parameter of the preprocessing unit, b 0 Representing a calculation coefficient, m represents the order of the active disturbance rejection controller, z i Indicating the ith current state setpoint.
In another possible embodiment, optionally, pre-compensating the current control amount to obtain a first control amount includes: the pre-compensation unit is used for carrying out pre-compensation processing on the current control quantity based on the following formula to obtain a first control quantity:
wherein G is 2 (s) U represents a first control amount, T 1 、T 2 Respectively representing the molecular time constant and the denominator time constant of the precompensation unit, p represents the order of the precompensation unit, s represents the Laplacian, T 1 Greater than T 2 。
In yet another possible implementation manner, optionally, performing a higher-order compensation process on the current control amount to obtain a second control amount includes: and performing high-order compensation processing on the current control quantity by the high-order compensation unit based on the following formula to obtain a second control quantity:
wherein u is f The second control amount is represented, T represents the time constant of the target object, and n represents the order of the target object.
In another possible embodiment, optionally, determining the preset number of next state setting values according to the second control amount and the current output value includes: determining, by the extended state observer, the preset number of next state settings according to the second control amount and the current output value based on the following formula:
Wherein y represents the current output value, beta i The ith adjustable parameter, z, representing the extended state observer i+1 Indicating the i +1 th next state set point,
representing z i Is a derivative of (a).
According to the technical scheme provided by the embodiment of the invention, the preset output value of the target object and the preset number of the current state set values are preprocessed by the preprocessing unit to obtain the current control quantity, and the current control quantity is respectively sent to the pre-compensation unit and the high-order compensation unit; the preset number is related to the order of the active disturbance rejection controller; the target object is represented by a target mathematical model; the method comprises the steps of performing pre-compensation processing on a current control quantity through a pre-compensation unit to obtain a first control quantity, and sending the first control quantity to a target mathematical model of a target object; the first control quantity is used for controlling an executing mechanism of the target object; determining a current output value of the target object according to the first control quantity through the target mathematical model, and sending the current output value to the judging unit; if the current output value is inconsistent with the set output value, the judging unit sends the current output value to the extended state observer; performing high-order compensation processing on the current control quantity through a high-order compensation unit to obtain a second control quantity, and sending the second control quantity to an extended state observer; determining a preset number of next state set values according to the second control quantity and the current output value through the extended state observer, and sending each next state set value to the preprocessing unit; and the preprocessing unit is used for taking the next state set value as the current state set value, performing preprocessing on the set output value of the target object and the preset number of the current state set values to obtain a current control quantity, and respectively transmitting the current control quantity to the operation of the pre-compensation unit and the high-order compensation unit until the current output value is consistent with the set output value, and controlling the change of the executing mechanism based on the current control quantity. By executing the technical scheme provided by the embodiment of the invention, the tracking performance and the anti-interference performance of the high-order system can be improved, and good support is provided for further popularization of field application of the active-interference-free controller in the industrial production process.
Fig. 3 shows a schematic diagram of an electronic device 40 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 3, the electronic device 40 includes at least one processor 41, and a memory communicatively connected to the at least one processor 41, such as a Read Only Memory (ROM) 42, a Random Access Memory (RAM) 43, etc., in which the memory stores a computer program executable by the at least one processor, and the processor 41 may perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 42 or the computer program loaded from the storage unit 48 into the Random Access Memory (RAM) 43. In the RAM 43, various programs and data required for the operation of the electronic device 40 may also be stored. The processor 41, the ROM 42 and the RAM 43 are connected to each other via a bus 44. An input/output (I/O) interface 45 is also connected to bus 44.
Various components in electronic device 40 are connected to I/O interface 45, including: an input unit 46 such as a keyboard, a mouse, etc.; an output unit 47 such as various types of displays, speakers, and the like; a storage unit 48 such as a magnetic disk, an optical disk, or the like; and a communication unit 49 such as a network card, modem, wireless communication transceiver, etc. The communication unit 49 allows the electronic device 40 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 41 may be various general and/or special purpose processing components with processing and computing capabilities. Some examples of processor 41 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 41 performs the various methods and processes described above, such as the active-disturbance-rejection control method.
In some embodiments, the active-disturbance-rejection control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 48. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 40 via the ROM 42 and/or the communication unit 49. When a computer program is loaded into RAM 43 and executed by processor 41, one or more steps of the active-disturbance-rejection control method described above may be performed. Alternatively, in other embodiments, processor 41 may be configured to perform the active-disturbance-rejection control method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with an object, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a subject; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which an object may provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with an object; for example, feedback provided to the subject may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the subject may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., an object computer having a graphical object interface or a web browser through which an object can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (9)
1. The active disturbance rejection control system is characterized by comprising a target object and an active disturbance rejection controller, wherein the active disturbance rejection controller comprises a preprocessing unit, a precompensation unit, a judging unit, a high-order compensating unit and an extended state observer; wherein:
the preprocessing unit is respectively connected with the pre-compensation unit and the high-order compensation unit; the target object is respectively connected with the precompensation unit and the judging unit; the extended state observer is respectively connected with the preprocessing unit and the judging unit; the target object comprises a high-order system formed by connecting first-order inertia links in series;
The preprocessing unit is used for preprocessing the set output value of the target object and the preset number of current state set values to obtain a current control quantity, and respectively sending the current control quantity to the pre-compensation unit and the high-order compensation unit; the preset number is associated with the order of the active disturbance rejection controller;
the pre-compensation unit is used for carrying out pre-compensation processing on the current control quantity to obtain a first control quantity, and sending the first control quantity to a target mathematical model of the target object; the first control quantity is used for controlling an executing mechanism of the target object;
the target mathematical model is used for determining a current output value of the target object according to the first control quantity and sending the current output value to the judging unit;
the judging unit is used for sending the current output value to the extended state observer if the current output value is not consistent with the set output value;
the high-order compensation unit is used for carrying out high-order compensation processing on the current control quantity to obtain a second control quantity, and sending the second control quantity to the extended state observer;
The extended state observer is configured to determine the preset number of next state setting values according to the second control amount and the current output value, and send each of the next state setting values to the preprocessing unit;
the preprocessing unit is further configured to perform preprocessing on the set output value of the target object and a preset number of current state set values to obtain a current control amount, and send the current control amount to the operations of the pre-compensation unit and the high-order compensation unit respectively until the current output value is consistent with the set output value, and control the change of the executing mechanism based on the current control amount.
2. The system of claim 1, wherein the system further comprises a controller configured to control the controller,
the system also comprises a state disturbance unit, a pre-compensation unit and a control unit, wherein the state disturbance unit is connected with the pre-compensation unit and used for sending disturbance state quantity to the pre-compensation unit;
the pre-compensation unit is used for carrying out pre-compensation processing on the current control quantity and the disturbance state quantity to obtain a first control quantity.
3. The system of claim 2, wherein the system further comprises a controller configured to control the controller,
The system also comprises an output disturbance unit, a judgment unit and a control unit, wherein the output disturbance unit is connected with the judgment unit and is used for sending a disturbance output value to the judgment unit;
the judging unit is used for determining a target output value according to the disturbance output value and the current output value, and sending the target output value to the extended state observer if the target output value is not consistent with the set output value;
the extended state observer is configured to determine the preset number of next state setting values according to the second control amount and the target output value, and send each of the next state setting values to the preprocessing unit.
4. The system of claim 1, wherein the system further comprises a controller configured to control the controller,
the preprocessing unit is specifically configured to preprocess the set output value of the target object and the preset number of current state set values based on the following formula to obtain a current control amount:
wherein u represents the current control amount, r (i-1) Representing the i-1 derivative, k, of the set output value r i Representing the ith adjustable parameter of the preprocessing unit, b 0 Representing a calculation coefficient, m represents the order of the active disturbance rejection controller, z i Indicating the ith current state setpoint.
5. The system of claim 4, wherein the system further comprises a controller configured to control the controller,
the pre-compensation unit is specifically configured to perform pre-compensation processing on the current control amount based on the following formula to obtain a first control amount:
wherein G is 2 (s) U represents a first control amount, T 1 、T 2 Respectively representing the molecular time constant and the denominator time constant of the precompensation unit, p represents the order of the precompensation unit, s represents the Laplacian, T 1 Greater than T 2 。
6. The system of claim 5, wherein the system further comprises a controller configured to control the controller,
the high-order compensation unit is specifically configured to perform high-order compensation processing on the current control amount based on the following formula to obtain a second control amount:
wherein u is f The second control amount is represented, T represents the time constant of the target object, and n represents the order of the target object.
7. The system of claim 6, wherein,
the extended state observer is specifically configured to determine the preset number of next state setting values according to the second control amount and the current output value based on the following formula:
wherein y represents the current output value, beta i The ith adjustable parameter, z, representing the extended state observer i+1 Indicating the i +1 th next state set point,
representing z i Is a derivative of (a).
8. An active disturbance rejection control method is characterized by comprising the following steps:
preprocessing a set output value of a target object and a preset number of current state set values through a preprocessing unit to obtain a current control quantity, and respectively sending the current control quantity to a pre-compensation unit and a high-order compensation unit; the preset number is associated with the order of the active disturbance rejection controller; the target object is represented by a target mathematical model;
the pre-compensation unit is used for carrying out pre-compensation processing on the current control quantity to obtain a first control quantity, and the first control quantity is sent to a target mathematical model of the target object; the first control quantity is used for controlling an executing mechanism of the target object;
determining a current output value of the target object according to the first control quantity through the target mathematical model, and sending the current output value to a judging unit;
if the judging unit determines that the current output value is inconsistent with the set output value, the current output value is sent to an extended state observer;
performing high-order compensation processing on the current control quantity through the high-order compensation unit to obtain a second control quantity, and sending the second control quantity to the extended state observer;
Determining the preset number of next state set values according to the second control quantity and the current output value through the extended state observer, and sending each of the next state set values to the preprocessing unit;
and the preprocessing unit is used for taking the next state set value as a current state set value, performing preprocessing on the set output value of the target object and the preset number of current state set values to obtain a current control quantity, and respectively sending the current control quantity to the operation of the pre-compensation unit and the high-order compensation unit until the current output value is consistent with the set output value, and controlling the change of the executing mechanism based on the current control quantity.
9. A computer readable storage medium storing computer instructions for causing a processor to implement the active disturbance rejection control method according to claim 7 when executed.
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