CN116301081A - Speed control method, device, equipment and medium of inertia test equipment - Google Patents

Speed control method, device, equipment and medium of inertia test equipment Download PDF

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Publication number
CN116301081A
CN116301081A CN202310553056.9A CN202310553056A CN116301081A CN 116301081 A CN116301081 A CN 116301081A CN 202310553056 A CN202310553056 A CN 202310553056A CN 116301081 A CN116301081 A CN 116301081A
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control
angular velocity
actual
disturbance
target
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CN116301081B (en
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王常虹
黄谷
王振桓
曾庆双
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Shenrui Technology Beijing Co ltd
Harbin Institute of Technology
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Shenrui Technology Beijing Co ltd
Harbin Institute of Technology
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
    • G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation

Abstract

The invention provides a speed control method, a device, equipment and a medium of inertia test equipment, and relates to the technical field of automatic control, wherein the method comprises the following steps: acquiring a target angular velocity change curve; obtaining a feedforward control quantity of the voltage control module according to the target angular velocity change curve; obtaining an actual error according to a target angular velocity change curve and an actual angular velocity signal, and carrying out nonlinear proportional control on the actual error to obtain a nonlinear proportional control quantity; inputting the actual control voltage and the actual angular velocity signal into a preset reduced-order state observer to obtain observation disturbance; obtaining disturbance compensation control quantity based on the observed disturbance; inputting the feedforward control quantity, the nonlinear proportional control quantity and the disturbance compensation control quantity into a voltage control module to obtain a target control voltage; and the triggering angular velocity driving module realizes the control of the angular velocity according to the target control voltage, the moment coefficient and the observed disturbance. The method can solve the problem that the control precision of the active disturbance rejection control algorithm is difficult to meet the requirements of inertial test equipment.

Description

Speed control method, device, equipment and medium of inertia test equipment
Technical Field
The present invention relates to the field of automatic control technologies, and in particular, to a method, an apparatus, a device, and a medium for controlling a rate of an inertia test apparatus.
Background
The inertial technology is an important measurement technology for acquiring information such as the posture, the speed, the position and the like of a moving body by sensing angular movement and linear movement of the moving body in an inertial space, and has very important roles in the fields such as aviation, navigation, military and the like. The inertia test equipment is key equipment applied to the whole processes of design development, manufacture, test, use and the like of an inertia product. The precision of the inertial test equipment needs to be higher than that of an inertial product, and in addition to improving the hardware performance, a proper and advanced control method needs to be designed to fully reach the limit precision supported by the hardware equipment.
In high precision inertial device applications, it is often desirable to achieve accurate, rapid control of the rate. The traditional linear control method represented by the PID control algorithm is difficult to meet the requirements of high-precision and high-dynamic rotating speed control at the same time, and the self-interference rejection control algorithm (Active Disturbance Rejection Control, ADRC) provided later solves the contradiction between the rapidity and the overshoot in the traditional PID control. However, the active disturbance rejection control still has some problems, the control precision of the active disturbance rejection control algorithm is difficult to meet the requirements of some inertial test equipment, and when the reference signal changes rapidly, the moment coefficient can have a great influence on the control precision of the rotating speed.
Disclosure of Invention
In view of this, the invention provides a rate control method, device, equipment and medium for an inertial test device, which at least partially solve the problems that the control accuracy of an active disturbance rejection control algorithm in the prior art is difficult to meet the requirements of some inertial test devices, and when a reference signal changes rapidly, a moment coefficient can cause a large influence on the control accuracy of a rotating speed.
In a first aspect, the present application provides a method of rate control of an inertial test device, the method comprising:
acquiring a target angular velocity change curve;
obtaining a feedforward control quantity of a voltage control module according to the target angular velocity change curve, wherein the voltage control module is used for outputting target control voltage so as to control the angular velocity of an angular velocity driving module;
acquiring an actual control voltage input by the angular speed driving module and an output actual angular speed signal;
obtaining an actual error according to the target angular velocity change curve and the actual angular velocity signal, and carrying out nonlinear proportional control on the actual error to obtain nonlinear proportional control quantity;
inputting the actual control voltage and the actual angular velocity signal into a preset reduced-order state observer to obtain observation disturbance;
obtaining disturbance compensation control quantity based on the observed disturbance;
inputting the feedforward control quantity, the nonlinear proportional control quantity and the disturbance compensation control quantity into the voltage control module to obtain the target control voltage;
triggering the angular speed driving module to control the angular speed according to the target control voltage, the moment coefficient and the actual disturbance, wherein the moment coefficient is obtained by identification and estimation according to a preset identification algorithm.
Optionally, obtaining the feedforward control quantity of the voltage control module according to the target angular velocity change curve includes:
nonlinear filtering is carried out on the target angular velocity change curve, and a differential signal of the target angular velocity change curve after nonlinear filtering is obtained;
the feedforward control amount is determined based on the following formula:
Figure SMS_1
wherein the said
Figure SMS_2
For the feedforward control amountSaid->
Figure SMS_3
For the moment coefficient, the +.>
Figure SMS_4
For the differential signal, the +.>
Figure SMS_5
For the first adjustable parameter, theJIs the moment of inertia.
Optionally, acquiring the actual control voltage input by the angular velocity driving module and the output actual angular velocity signal includes:
and acquiring a corner position signal acquired by a position sensor, and performing differential calculation on the corner position signal to acquire the actual angular velocity signal.
Optionally, inputting the actual control voltage and the actual angular velocity signal into a preset reduced-order state observer to obtain an observed disturbance, including:
the preset reduced-order state observer is established according to the following formula:
Figure SMS_6
wherein the said
Figure SMS_7
For the second adjustable parameter, said +.>
Figure SMS_12
For a third adjustable parameter, said +.>
Figure SMS_15
For a fourth adjustable parameter, said +.>
Figure SMS_8
For a fifth adjustable parameter, thehFor the sampling interval, said +.>
Figure SMS_10
To observe angular velocityThe difference between the degree signal and the actual angular velocity signal, said +.>
Figure SMS_13
The rotational speed variable output for the reduced state observer, the +.>
Figure SMS_16
For the actual angular velocity signal, the +.>
Figure SMS_9
To observe the disturbance, theSatAs a saturation function, said->
Figure SMS_11
Observing a limit for a preset disturbance, said
Figure SMS_14
The function is the central symmetry of the negative half-axis and the positive half-axis +.>
Figure SMS_17
The power function, the formula is as follows:
Figure SMS_18
。
optionally, obtaining an actual error according to the target angular velocity change curve and the actual angular velocity signal, and performing nonlinear proportional control on the actual error to obtain a nonlinear proportional control quantity, including:
the nonlinear proportional control quantity is determined according to the following formula:
Figure SMS_19
wherein the said
Figure SMS_20
For said nonlinear proportional control quantity, said +.>
Figure SMS_21
For the sixth adjustable parameter, provided thatSaid->
Figure SMS_22
For a seventh adjustable parameter, said ++>
Figure SMS_23
Is a nonlinear filtered target angular velocity change curve.
Optionally, obtaining the disturbance compensation control amount based on the observed disturbance includes:
Figure SMS_24
wherein the said
Figure SMS_25
Compensating the disturbance variable for the control quantity.
Optionally, the angular velocity driving module realizes control of the angular velocity according to the target control voltage, the moment coefficient and the actual disturbance, including:
control of the angular velocity is achieved according to the following formula:
Figure SMS_26
wherein the said
Figure SMS_27
For controlling the angular velocity after that, said +.>
Figure SMS_28
For the target control voltage, the +.>
Figure SMS_29
Is the actual disturbance.
In a second aspect, the present application provides a rate control apparatus for an inertial test device, the apparatus comprising:
the first acquisition module is used for acquiring a target angular velocity change curve;
the feedforward control quantity determining module is used for obtaining feedforward control quantity of the voltage control module according to the target angular speed change curve, wherein the voltage control module is used for outputting target control voltage so as to control the angular speed of the angular speed driving module;
the second acquisition module is used for acquiring the actual control voltage input by the angular speed driving module and the output actual angular speed signal;
the nonlinear proportional control quantity determining module is used for obtaining an actual error according to the target angular velocity change curve and the actual angular velocity signal, and carrying out nonlinear proportional control on the actual error to obtain a nonlinear proportional control quantity;
the observed disturbance determining module is used for inputting the actual control voltage and the actual angular velocity signal into a preset reduced-order state observer to obtain observed disturbance;
the disturbance compensation control quantity determining module is used for obtaining a disturbance compensation control quantity based on the observed disturbance;
the target control voltage determining module is used for inputting the feedforward control quantity, the nonlinear proportional control quantity and the disturbance compensation control quantity into the voltage control module to obtain the target control voltage;
and the angular speed control module is used for triggering the angular speed driving module to control the angular speed according to the target control voltage, the moment coefficient and the actual disturbance, wherein the moment coefficient is obtained by identification and estimation according to a preset identification algorithm.
In a third aspect, the present application provides a rate control device for an inertial test device, comprising: at least one processor and at least one memory;
wherein the memory stores program code that, when executed by the processor, causes the processor to perform the following:
acquiring a target angular velocity change curve;
obtaining a feedforward control quantity of a voltage control module according to the target angular velocity change curve, wherein the voltage control module is used for outputting target control voltage so as to control the angular velocity of an angular velocity driving module;
acquiring an actual control voltage input by the angular speed driving module and an output actual angular speed signal;
obtaining an actual error according to the target angular velocity change curve and the actual angular velocity signal, and carrying out nonlinear proportional control on the actual error to obtain nonlinear proportional control quantity;
inputting the actual control voltage and the actual angular velocity signal into a preset reduced-order state observer to obtain observation disturbance;
obtaining disturbance compensation control quantity based on the observed disturbance;
inputting the feedforward control quantity, the nonlinear proportional control quantity and the disturbance compensation control quantity into the voltage control module to obtain the target control voltage;
triggering the angular speed driving module to control the angular speed according to the target control voltage, the moment coefficient and the observed disturbance, wherein the moment coefficient is obtained by identification estimation according to a preset identification algorithm.
In a fourth aspect, the present application also provides a computer storage medium having stored thereon a computer program which when executed by a processor performs the steps of the rate control method of any one of the inertial test devices of the first aspect.
In a fifth aspect, the present application also provides a computer program product comprising a computer program comprising program instructions which, when executed by an electronic device, cause the electronic device to perform a rate control method of any one of the inertial test devices described above.
In addition, the technical effects caused by any implementation manner of the second aspect to the fifth aspect may refer to the technical effects caused by different implementation manners of the first aspect, which are not described herein.
The speed control method, the device, the equipment and the medium for the inertia test equipment provided by the invention have the following beneficial effects:
according to the speed control method, device, equipment and medium of the inertia test equipment, through feedforward control on the target angular speed change curve, the dynamic response of the voltage control module and the angular speed driving module can be well improved, and the accuracy of angular speed control is improved; the method has the advantages that the extended state observer in the traditional active disturbance rejection control is reduced in order and optimized, disturbance rejection capability is improved, and as the moment coefficient can greatly influence the control precision of the rotating speed when the target angular speed is changed rapidly, the identification method is designed for estimating the moment coefficient in real time according to the problem, and the control precision is further improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a rate control method of an inertial test device according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a single-axis rotational speed servo system according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a method for controlling a velocity of an inertial test device according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a reference signal after nonlinear filtering according to an embodiment of the present application;
FIG. 5 is a schematic diagram of an identification curve of a moment coefficient according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of a disturbance observer change according to an embodiment of the present disclosure;
fig. 7 is a schematic diagram of controlling rotation speed variation according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a control rotational speed error according to an embodiment of the present disclosure;
FIG. 9 is a schematic diagram of a rate control device of an inertial test apparatus according to an embodiment of the present disclosure;
fig. 10 is a schematic diagram of a rate control device of an inertia test apparatus according to an embodiment of the present application.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be noted that, without conflict, the following embodiments and features in the embodiments may be combined with each other; and, based on the embodiments in this disclosure, all other embodiments that may be made by one of ordinary skill in the art without inventive effort are within the scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the following claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present disclosure, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
The inertial technology is an important measurement technology for acquiring information such as the posture, the speed, the position and the like of a moving body by sensing angular movement and linear movement of the moving body in an inertial space, and has very important roles in the fields such as aviation, navigation, military and the like. The inertia test equipment is key equipment applied to the whole processes of design development, manufacture, test, use and the like of an inertia product. The precision of the inertial test equipment needs to be higher than that of an inertial product, and in addition to improving the hardware performance, a proper and advanced control method needs to be designed to fully reach the limit precision supported by the hardware equipment.
In high precision inertial device applications, it is often desirable to achieve accurate, rapid control of the rate. The traditional linear control method represented by the PID control algorithm is difficult to meet the requirements of high-precision and high-dynamic rotating speed control at the same time, and the self-interference rejection control algorithm (Active Disturbance Rejection Control, ADRC) provided later solves the contradiction between the rapidity and the overshoot in the traditional PID control. However, the active disturbance rejection control still has some problems, the control precision of the active disturbance rejection control algorithm is difficult to meet the requirements of some inertial test equipment, and when the reference signal changes rapidly, the moment coefficient can have a great influence on the control precision of the rotating speed.
Based on the above, the application provides a rate control method of inertia test equipment, which improves an active disturbance rejection control method. For the rate control of the high-precision inertial test equipment, under the application of a high-precision grating sensor, an extended state observer in an original active disturbance rejection control method can be reduced and simplified to improve the tracking speed of disturbance; changing the original transition process arrangement aiming at the position into the transition process arrangement aiming at the rotating speed; in order to improve the tracking performance of a given rotating speed curve, a feedforward link is designed to improve the tracking speed; although the active disturbance rejection control has certain robustness to system parameters, when a reference signal is changed rapidly, a moment coefficient still has a great influence on the control accuracy of the rotating speed, and an identification method is designed for estimating the moment coefficient in real time.
Fig. 1 shows a rate control method of an inertial test device provided in the present application, which includes:
step S101, a target angular velocity change curve is obtained;
it should be noted that, the present application proposes a rate control method of an inertia test apparatus, which may be, but not limited to, a rate control method for a high-precision inertia test apparatus, where an angular velocity of the high-precision inertia test apparatus needs to be controlled according to a predetermined reference signal, so that the angular velocity of the high-precision inertia test apparatus may be changed according to the predetermined reference signal. The reference signal, i.e. the target angular velocity profile, is predefined here. The target angular velocity profile is given by a person skilled in the art and the specific course of the change is controlled by a person skilled in the art, without limitation.
Step S102, obtaining a feedforward control quantity of a voltage control module according to the target angular velocity change curve, wherein the voltage control module is used for outputting target control voltage to control the angular velocity of an angular velocity driving module;
it should be noted that, the set of the voltage control module and the angular velocity driving module is referred to herein as a rate control system, where the voltage control module needs to determine, according to the target angular velocity change curve, the actual output voltage of the current voltage control module, the actual angular velocity signal and the total disturbance output by the angular velocity driving module, and control the target output voltage of the angular velocity driving module, so that the angular velocity driving module realizes the control of the angular velocity according to the target output voltage. The total disturbance here is the unification of the rate control system model error and the external disturbance. The process in which the voltage control module outputs the target control voltage to control the angular velocity of the angular velocity driving module will be described one by one.
Specifically, the feedforward control can improve the dynamic response of the system under the condition of known reference signal differentiation, and the specific process of obtaining the feedforward control quantity of the voltage control module according to the target angular velocity change curve is as follows:
nonlinear filtering is carried out on the target angular velocity change curve, and a differential signal of the target angular velocity change curve after nonlinear filtering is obtained; the feedforward control amount is determined based on the following formula:
Figure SMS_30
（1）
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_31
for feed-forward control quantity->
Figure SMS_32
Is a moment coefficient->
Figure SMS_33
For differentiating the signal +.>
Figure SMS_34
As a first of the parameters to be adjusted,Jis the moment of inertia.
It should be noted that, the maximum acceleration that the rate control system can withstand is:
Figure SMS_35
（2）
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_36
is a control voltage limit in a rate control system. Therefore, the input reference signal needs to be filtered to make the maximum acceleration smaller than the upper acceleration limit of the system>
Figure SMS_37
The method comprises the steps of carrying out a first treatment on the surface of the And gives the derivative of the filtered signal for calculating the feedforward control quantity. The specific calculation mode is as follows:
Figure SMS_38
（3）
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_39
for reference signal, +.>
Figure SMS_40
For the filtered reference signal, < >>
Figure SMS_41
Is a velocity factor. After filtering, the maximum rate of change of the reference signal is not more than +.>
Figure SMS_42
And can track without phase amplitude difference and give the differential +.>
Figure SMS_43
。
Regardless of the disturbance, the equation after the system Laplace transform is:
Figure SMS_44
（4）
for a given reference signal
Figure SMS_45
Substituting and sorting:
Figure SMS_46
（5）
step S103, obtaining an actual control voltage input by the angular velocity driving module and an output actual angular velocity signal;
the observed disturbance in the embodiment of the present application needs to be obtained according to a preset reduced-order state observer, where the input of the preset reduced-order state observer is an actual control voltage and an actual angular velocity signal, so that the actual control voltage input by the angular velocity driving module and the actual angular velocity signal output by the angular velocity driving module need to be obtained in advance. The actual control voltage can be directly obtained, the actual angular velocity signal needs to be obtained according to the angular position signal acquired by the position sensor, and the angular position signal is subjected to differential calculation to obtain the actual angular velocity signal, and the specific implementation mode is as follows:
the position sensor adopts a high-precision grating, and can be considered to be accurate enough through harmonic error compensation, so that the angular velocity is directly calculated through difference:
Figure SMS_47
（6）
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_48
the angular position is obtained by high-precision grating measurement. />
Figure SMS_49
Is the sampling interval.
Step S104, obtaining an actual error according to the target angular velocity change curve and the actual angular velocity signal, and carrying out nonlinear proportional control on the actual error to obtain nonlinear proportional control quantity;
in the embodiment of the application, the feedback control amount includes a nonlinear proportional control amount and a disturbance compensation control amount. The disturbance compensation control can replace the integral action of the traditional PID control to ensure that the control system has no static difference, and avoid the influence of phase lag introduced by the integral control, so that only nonlinear proportional control is needed to be carried out on the error, and the specific calculation steps of nonlinear proportional control quantity are given below:
Figure SMS_50
（7）
Figure SMS_51
for said nonlinear proportional control quantity, +.>
Figure SMS_52
For the sixth adjustable parameter ++>
Figure SMS_53
For the seventh adjustable parameter->
Figure SMS_54
Is a nonlinear filtered target angular velocity change curve.
Step S105, inputting the actual control voltage and the actual angular velocity signal into a preset reduced-order state observer to obtain an observed disturbance;
it should be noted that, the existing extended state observer (Extended State Observer, ESO) has one more state variable (representing a position), and in the application environment of the present invention, the state observer can be reduced to simplify, improve the response speed, and reduce the number of parameters to be set. The preset reduced-order state observer is established according to the following formula:
Figure SMS_55
（8）
wherein the said
Figure SMS_58
For the second adjustable parameter, said +.>
Figure SMS_61
For a third adjustable parameter, said +.>
Figure SMS_64
For a fourth adjustable parameter, said +.>
Figure SMS_59
For a fifth adjustable parameter, thehFor the sampling interval, said +.>
Figure SMS_60
For observing the difference between the angular velocity signal and the actual angular velocity signal, said +.>
Figure SMS_63
The rotation speed variable output by the reduced-order state observer can be used as rotation speed output by replacing differential signals according to actual measurement noise conditions; said->
Figure SMS_66
For the actual angular velocity signal, the +.>
Figure SMS_56
To observe the disturbance, theSatAs a saturation function, said->
Figure SMS_62
Observing a limit for a preset disturbance, said +.>
Figure SMS_65
The function is the central symmetry of the negative half-axis and the positive half-axis +.>
Figure SMS_67
A power of two function and +.>
Figure SMS_57
The width interval is linearized, and the specific formula is as follows:
Figure SMS_68
（9）
Figure SMS_69
the function is a saturation function, parameter->
Figure SMS_70
The amplitude limiting effect on the observed disturbance value is realized as follows:
Figure SMS_71
（10）
step S106, obtaining disturbance compensation control quantity based on the observed disturbance;
obtaining a disturbance compensation control amount based on the observed disturbance, including:
Figure SMS_72
（11）
wherein the said
Figure SMS_73
Compensating the disturbance variable for the control quantity.
Step S107, inputting the feedforward control quantity, the nonlinear proportional control quantity and the disturbance compensation control quantity into the voltage control module to obtain the target control voltage;
the above-described formulas for determining the target control voltage from the feedforward control amount, the nonlinear proportional control amount, and the disturbance compensation control amount, which have been found, are as follows:
Figure SMS_74
（12）
and S108, triggering the angular speed driving module to control the angular speed according to the target control voltage, the moment coefficient and the actual disturbance, wherein the moment coefficient is obtained by carrying out identification estimation according to a preset identification algorithm.
It should be noted that, the speed control system in the embodiment of the present application is also called a single-axis rotational speed servo system model, and a servo motor (servo motor) refers to an engine that controls the operation of mechanical elements in the servo system, and is an indirect speed change device of a supplementary motor. The servo motor can control the speed, the position accuracy is very accurate, and the voltage signal can be converted into the torque and the rotating speed to drive a control object. The rotation speed of the rotor of the servo motor is controlled by an input signal, can react quickly, is used as an executive component in an automatic control system, has the characteristics of small electromechanical time constant, high linearity and the like, and can convert the received electric signal into angular displacement or angular speed output on the motor shaft. The motor is divided into two major types of direct current and alternating current servo motors, and is mainly characterized in that when the signal voltage is zero, no autorotation phenomenon exists, and the rotating speed is reduced at a constant speed along with the increase of the torque. The embodiment of the application provides a schematic diagram of a single-axis rotation speed servo system model, as shown in fig. 2.
The speed control system adopts a permanent magnet synchronous motor as a driving device, and a voltage balance equation of a three-phase winding of a stator of the permanent magnet synchronous motor can be expressed as follows:
Figure SMS_75
（13）
wherein:
Figure SMS_76
is->
Figure SMS_77
Phase winding phase voltage>
Figure SMS_78
；
Figure SMS_79
The three-phase winding phase resistance is adopted;
Figure SMS_80
is->
Figure SMS_81
Phase windingPhase current->
Figure SMS_82
；
Figure SMS_83
Is->
Figure SMS_84
Flux linkage on phase windings>
Figure SMS_85
；/>
Figure SMS_86
The upper addition point represents the derivative of the parameter.
The electromagnetic torque is:
Figure SMS_87
（14）
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_88
is the pole pair number of the motor.
It can be seen that under stator three-phase coordinates, the electromagnetic torque mathematical equation of the motor is complex and there is coupling, and for practical control needs, the voltage balance equation is established in the rotor d-q coordinate system through Clark transformation and Park transformation as follows:
Figure SMS_89
（15）
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_90
for direct axis current after transformation, < >>
Figure SMS_91
Is the direct axis flux linkage after transformation. />
Figure SMS_92
For transforming the post-quadrature axis current, < >>
Figure SMS_93
Is the transformed cross axis flux linkage. />
Figure SMS_94
And the two-axis resistance after transformation.
The electromagnetic torque can be calculated by the following formula:
Figure SMS_95
（16）
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_96
for the flux linkage of the permanent magnets on the stator side, +.>
Figure SMS_97
Is an equivalent d-axis,qThe axis is inductance.
Control by built-in current loop of controller
Figure SMS_98
、/>
Figure SMS_99
And let->
Figure SMS_100
The electromagnetic torque equation can be simplified to the following equation if the current loop bandwidth is large enough to not affect the control effect:
Figure SMS_101
（17）
Figure SMS_102
proportional to control voltage->
Figure SMS_103
Therefore, there are:
Figure SMS_104
（18）
instant controlVoltage generation
Figure SMS_105
And electromagnetic moment->
Figure SMS_106
Can be regarded as proportional relation +.>
Figure SMS_107
Is a moment coefficient.
According to newton's second law, there are:
Figure SMS_108
（19）
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_109
moment of inertia (I)>
Figure SMS_110
For angular velocity +.>
Figure SMS_111
For electromagnetic torque +.>
Figure SMS_112
Is the actual external disturbance of the inertia test equipment.
Besides, the embodiment of the application also designs an identification method for estimating the moment coefficient in real time. The method is specifically as follows:
consider the linear equation:
Figure SMS_113
（20）
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_114
for system output, ++>
Figure SMS_115
Is an information matrix->
Figure SMS_116
For system parameters->
Figure SMS_117
Is noise. Which corresponds to the cost function->
Figure SMS_118
The recursive least squares algorithm with forgetting factor is the least value:
Figure SMS_119
（21）
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_120
is amnesia factor, is->
Figure SMS_121
，/>
Figure SMS_122
Is a sufficiently large real number.
Substituting formula (18) into formula (19) and discretizing to obtain:
Figure SMS_123
（22）
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_124
is the sampling interval.
The same principle is as follows:
Figure SMS_125
（23）
the sampling interval is short enough to be considered as
Figure SMS_126
In this case, the finishing of the formulae (10), (11) is possible:
Figure SMS_127
（24）
order the
Figure SMS_128
，/>
Figure SMS_129
，/>
Figure SMS_130
The moment coefficient can be obtained according to the above formula.
The block diagram of the rate control method of the inertia test equipment provided by the embodiment of the application is shown in fig. 3, and the reference signal in fig. 3, namely the target angular velocity change curve, can well control the angular velocity with high precision through the rate control method of the inertia test equipment shown in fig. 3.
Simulation examples are also given in the embodiment of the present application, as follows:
the parameters of the electromechanical servo system are as follows: sampling step size
Figure SMS_131
Moment of inertia->
Figure SMS_132
Moment coefficient
Figure SMS_133
Maximum torque of motor>
Figure SMS_134
. The initial state of the system is 0. The expected tracking curve is
Figure SMS_135
。
And (3) applying disturbance:
Figure SMS_136
，/>
Figure SMS_137
is a standard white noise with a mean of 0 and a variance of 1. To approximate the actual system characteristics, a first-order low-pass filter with the bandwidth of 500Hz is added after the voltage output is controlled to be a current loop simplified modeType (2).
The system can provide maximum acceleration
Figure SMS_138
Taking the speed factor->
Figure SMS_139
The transition is arranged via nonlinear filtering as shown in fig. 4. The visible reference signal is filtered to +.>
Figure SMS_140
Is close to the desired tracking curve and tracks the desired sinusoidal signal without phase differences, amplitude decay, and provides a differential signal for calculating the feedforward control quantity.
Taking forgetting factor
Figure SMS_141
Moment coefficient->
Figure SMS_142
The identification curve of (2) is shown in FIG. 5.
Taking out
Figure SMS_143
，/>
Figure SMS_144
，/>
Figure SMS_145
The disturbance observer is shown in fig. 6. It can be seen that the observer well tracks the varying disturbances, as well as the step change of the disturbances at the time t=5.
Taking out
Figure SMS_146
，/>
Figure SMS_147
，/>
Figure SMS_148
The control rotation speed is shown in fig. 7, and the rotation speed error is shown in fig. 8. The control rotating speed overshoot is extremely small and has no static difference, and sinusoidal variation can be well tracked. PID control with good tuning (same reference signal, +.>
Figure SMS_149
，/>
Figure SMS_150
，/>
Figure SMS_151
Wherein the integral is only +.>
Figure SMS_152
Time active), the overshoot of the method is obviously smaller, and the transient process is obviously shorter; the method has good inhibition capability to constant disturbance and noise disturbance, and has remarkable dynamic tracking performance to the rapidly-changing reference signal.
The speed control method of the inertia test apparatus in the embodiment of the present invention is described above, and the device for executing the speed control method of the inertia test apparatus is described below.
Referring to fig. 9, a rate control device for an inertia test apparatus according to an embodiment of the present invention includes:
a first obtaining module 901, configured to obtain a target angular velocity change curve;
a feedforward control amount determining module 902, configured to obtain a feedforward control amount of a voltage control module according to the target angular velocity change curve, where the voltage control module is configured to output a target control voltage to control the angular velocity of the angular velocity driving module;
a second obtaining module 903, configured to obtain an actual control voltage input by the angular velocity driving module and an output actual angular velocity signal;
the nonlinear proportional control quantity determining module 904 is configured to obtain an actual error according to the target angular velocity change curve and the actual angular velocity signal, and perform nonlinear proportional control on the actual error to obtain a nonlinear proportional control quantity;
the observed disturbance determining module 905 is configured to input the actual control voltage and the actual angular velocity signal into a preset reduced-order state observer, so as to obtain an observed disturbance;
a disturbance compensation control amount determination module 906, configured to obtain a disturbance compensation control amount based on the observed disturbance;
a target control voltage determining module 907 configured to input the feedforward control amount, the nonlinear proportional control amount, and the disturbance compensation control amount into the voltage control module to obtain the target control voltage;
and the angular speed control module 908 is configured to trigger the angular speed driving module to implement control of the angular speed according to the target control voltage, the moment coefficient and the actual disturbance, where the moment coefficient is obtained by performing identification estimation according to a preset identification algorithm.
Optionally, the feedforward control amount determining module 902 is specifically configured to:
nonlinear filtering is carried out on the target angular velocity change curve, and a differential signal of the target angular velocity change curve after nonlinear filtering is obtained;
the feedforward control amount is determined based on the following formula:
Figure SMS_153
wherein the said
Figure SMS_154
For the feedforward control amount, the +.>
Figure SMS_155
For the moment coefficient, the +.>
Figure SMS_156
For the differential signal, the +.>
Figure SMS_157
For the first adjustable parameter, theJIs the moment of inertia.
Optionally, the second obtaining module 903 is specifically configured to:
and acquiring a corner position signal acquired by a position sensor, and performing differential calculation on the corner position signal to acquire the actual angular velocity signal.
Optionally, the observed disturbance determination module 905 is specifically configured to:
the preset reduced-order state observer is established according to the following formula:
Figure SMS_158
wherein the said
Figure SMS_160
For the second adjustable parameter, said +.>
Figure SMS_163
For a third adjustable parameter, said +.>
Figure SMS_166
For a fourth adjustable parameter, said +.>
Figure SMS_161
For a fifth adjustable parameter, thehFor the sampling interval, said +.>
Figure SMS_162
For observing the difference between the angular velocity signal and the actual angular velocity signal, said +.>
Figure SMS_165
The rotational speed variable output for the reduced state observer, the +.>
Figure SMS_168
For the actual angular velocity signal, the +.>
Figure SMS_159
To observe the disturbance, theSatAs a saturation function, said->
Figure SMS_164
Observing a limit for a preset disturbance, said
Figure SMS_167
The function is the central symmetry of the negative half-axis and the positive half-axis +.>
Figure SMS_169
The power function has the following specific formula:
Figure SMS_170
。
optionally, the nonlinear proportional control quantity determining module 904 is specifically configured to:
the nonlinear proportional control quantity is determined according to the following formula:
Figure SMS_171
wherein the said
Figure SMS_172
For said nonlinear proportional control quantity, said +.>
Figure SMS_173
For a sixth adjustable parameter, said +.>
Figure SMS_174
For a seventh adjustable parameter, said ++>
Figure SMS_175
Is a nonlinear filtered target angular velocity change curve.
Optionally, the disturbance compensation control amount determination module 906 is specifically configured to
Figure SMS_176
Wherein the said
Figure SMS_177
Compensating the disturbance variable for the control quantity.
Optionally, the angular velocity control module 908 is specifically configured to:
control of the angular velocity is achieved according to the following formula:
Figure SMS_178
wherein the said
Figure SMS_179
For controlling the angular velocity after that, said +.>
Figure SMS_180
For the target control voltage, the +.>
Figure SMS_181
Is the actual disturbance.
The rate control device of an inertia test apparatus in the embodiment of the present application is described above from the point of view of a modularized functional entity, and the rate control device of an inertia test apparatus in the embodiment of the present application is described below from the point of view of hardware processing.
Referring to FIG. 10, a rate control device for an inertial test device, at least one processor 1001 and at least one memory 1002, and a bus system 1009 in an embodiment of the present application;
wherein the memory stores program code that, when executed by the processor, causes the processor to perform the following:
acquiring a target angular velocity change curve;
obtaining a feedforward control quantity of a voltage control module according to the target angular velocity change curve, wherein the voltage control module is used for outputting target control voltage so as to control the angular velocity of an angular velocity driving module;
acquiring an actual control voltage input by the angular speed driving module and an output actual angular speed signal;
obtaining an actual error according to the target angular velocity change curve and the actual angular velocity signal, and carrying out nonlinear proportional control on the actual error to obtain nonlinear proportional control quantity;
inputting the actual control voltage and the actual angular velocity signal into a preset reduced-order state observer to obtain observation disturbance;
obtaining disturbance compensation control quantity based on the observed disturbance;
inputting the feedforward control quantity, the nonlinear proportional control quantity and the disturbance compensation control quantity into the voltage control module to obtain the target control voltage;
triggering the angular speed driving module to control the angular speed according to the target control voltage, the moment coefficient and the actual disturbance, wherein the moment coefficient is obtained by identification and estimation according to a preset identification algorithm.
Fig. 10 is a schematic diagram of a rate control device of an inertial testing device according to an embodiment of the present application, where the device 1000 may have a relatively large difference due to different configurations or performances, and may include one or more processors (in english: central processing units, in english: CPU) 1001 (e.g., one or more processors) and a memory 1002, and one or more storage media 1003 (e.g., one or more mass storage devices) storing application programs 1004 or data 1005. Wherein the memory 1002 and the storage medium 1003 may be transitory or persistent. The program stored in the storage medium 1003 may include one or more modules (not shown), and each module may include a series of instruction operations to the information processing apparatus. Still further, the processor 1001 may be configured to communicate with a storage medium 1003 and execute a series of instruction operations in the storage medium 1003 on the device 1000.
The device 1000 may also include one or more wired or wireless network interfaces 1007, one or more input/output interfaces 1008, and/or one or more operating systems 1006, such as Windows Server, mac OS X, unix, linux, freeBSD, and the like.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.

Claims (10)

1. A method of rate control of an inertial test device, comprising:
acquiring a target angular velocity change curve;
obtaining a feedforward control quantity of a voltage control module according to the target angular velocity change curve, wherein the voltage control module is used for outputting target control voltage so as to control the angular velocity of an angular velocity driving module;
acquiring an actual control voltage input by the angular speed driving module and an output actual angular speed signal;
obtaining an actual error according to the target angular velocity change curve and the actual angular velocity signal, and carrying out nonlinear proportional control on the actual error to obtain nonlinear proportional control quantity;
inputting the actual control voltage and the actual angular velocity signal into a preset reduced-order state observer to obtain observation disturbance;
obtaining disturbance compensation control quantity based on the observed disturbance;
inputting the feedforward control quantity, the nonlinear proportional control quantity and the disturbance compensation control quantity into the voltage control module to obtain the target control voltage;
triggering the angular speed driving module to control the angular speed according to the target control voltage, the moment coefficient and the actual disturbance, wherein the moment coefficient is obtained by identification and estimation according to a preset identification algorithm.
2. The method of claim 1, wherein the obtaining the feedforward control quantity of the voltage control module according to the target angular velocity variation curve includes:
nonlinear filtering is carried out on the target angular velocity change curve, and a differential signal of the target angular velocity change curve after nonlinear filtering is obtained;
the feedforward control amount is determined based on the following formula:
Figure QLYQS_1
wherein the said
Figure QLYQS_2
For the feedforward control amount, the +.>
Figure QLYQS_3
For the moment coefficient, the +.>
Figure QLYQS_4
For the differential signal, the +.>
Figure QLYQS_5
For the first adjustable parameter, theJIs the moment of inertia.
3. The method of claim 1, wherein the obtaining the actual control voltage input to the angular velocity driving module and the actual angular velocity signal output from the angular velocity driving module includes:
and acquiring a corner position signal acquired by a position sensor, and performing differential calculation on the corner position signal to acquire the actual angular velocity signal.
4. The method of claim 1, wherein said inputting the actual control voltage and the actual angular velocity signal into a predetermined reduced state observer to obtain an observed disturbance comprises:
the preset reduced-order state observer is established according to the following formula:
Figure QLYQS_6
wherein the said
Figure QLYQS_9
For the second adjustable parameter, said +.>
Figure QLYQS_12
For a third adjustable parameter, said +.>
Figure QLYQS_16
For a fourth adjustable parameter, said +.>
Figure QLYQS_8
For a fifth adjustable parameter, thehFor the sampling interval, said +.>
Figure QLYQS_11
For observing the difference between the angular velocity signal and the actual angular velocity signal, said +.>
Figure QLYQS_14
The rotational speed variable output for the reduced state observer, the +.>
Figure QLYQS_17
For the actual angular velocity signal, the +.>
Figure QLYQS_7
To observe the disturbance, theSatAs a saturation function, said->
Figure QLYQS_10
Observing a limit for a preset disturbance, said
Figure QLYQS_13
The function is the central symmetry of the negative half-axis and the positive half-axis +.>
Figure QLYQS_15
The power function, the formula is as follows:
Figure QLYQS_18
。
5. the method according to claim 1, wherein said obtaining an actual error from said target angular velocity change curve and said actual angular velocity signal, and performing nonlinear proportional control on said actual error to obtain a nonlinear proportional control amount, comprises:
the nonlinear proportional control quantity is determined according to the following formula:
Figure QLYQS_19
wherein the said
Figure QLYQS_20
For said nonlinear proportional control quantity, said +.>
Figure QLYQS_21
For a sixth adjustable parameter, said +.>
Figure QLYQS_22
For a seventh adjustable parameter, said ++>
Figure QLYQS_23
Is a nonlinear filtered target angular velocity change curve.
6. The method of claim 1, wherein deriving the disturbance-compensated control quantity based on the observed disturbance comprises:
Figure QLYQS_24
wherein the said
Figure QLYQS_25
Compensating the disturbance variable for the control quantity.
7. The method of claim 1, wherein the angular velocity drive module effects control of angular velocity based on the target control voltage, torque coefficient, and actual disturbance, comprising:
control of the angular velocity is achieved according to the following formula:
Figure QLYQS_26
wherein the said
Figure QLYQS_27
For controlling the angular velocity after that, said +.>
Figure QLYQS_28
For the target control voltage, the +.>
Figure QLYQS_29
Is the actual disturbance.
8. A rate control device for an inertial test unit, the device comprising:
the first acquisition module is used for acquiring a target angular velocity change curve;
the feedforward control quantity determining module is used for obtaining feedforward control quantity of the voltage control module according to the target angular speed change curve, wherein the voltage control module is used for outputting target control voltage so as to control the angular speed of the angular speed driving module;
the second acquisition module is used for acquiring the actual control voltage input by the angular speed driving module and the output actual angular speed signal;
the nonlinear proportional control quantity determining module is used for obtaining an actual error according to the target angular velocity change curve and the actual angular velocity signal, and carrying out nonlinear proportional control on the actual error to obtain a nonlinear proportional control quantity;
the observed disturbance determining module is used for inputting the actual control voltage and the actual angular velocity signal into a preset reduced-order state observer to obtain observed disturbance;
the disturbance compensation control quantity determining module is used for obtaining a disturbance compensation control quantity based on the observed disturbance;
the target control voltage determining module is used for inputting the feedforward control quantity, the nonlinear proportional control quantity and the disturbance compensation control quantity into the voltage control module to obtain the target control voltage;
and the angular speed control module is used for triggering the angular speed driving module to control the angular speed according to the target control voltage, the moment coefficient and the actual disturbance, wherein the moment coefficient is obtained by identification and estimation according to a preset identification algorithm.
9. A rate control device for an inertial test device, comprising: a processor and a memory, wherein the memory is used for storing a program;
the processor is configured to execute a program in the memory, so that a computer executes the rate control method of the inertia test apparatus according to any one of claims 1 to 7.
10. A computer readable storage medium comprising computer program instructions which, when run on a computer, cause the computer to perform a rate control method of an inertial test device according to any one of claims 1 to 7.
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