CN116443100A - Angle control method, device, equipment and medium based on linear active disturbance rejection - Google Patents
Angle control method, device, equipment and medium based on linear active disturbance rejection Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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Abstract
The invention discloses an angle control method, device, equipment and medium based on linear active disturbance rejection. The method comprises the following steps: determining a feedforward theoretical value according to the expected rotation angle of the steering wheel; determining a feedback value of the linear active disturbance rejection according to the expected rotation angle of the steering wheel and the linear active disturbance rejection control component; determining the input torque of an EPS controller according to the feedforward theoretical value and the feedback value, and inputting the input torque to the EPS controller; the linear active disturbance rejection control assembly comprises a linear tracking differential controller, a linear state error feedback device and an extended observation state device. The embodiment of the invention can reduce the input torque deviation caused by inaccurate parameters and measurement jitter.
Description
Technical Field
The invention relates to the technical field of vehicle auxiliary driving, in particular to an angle control method, device, equipment and medium based on linear active disturbance rejection.
Background
An electronic power steering (Electronic Power Steering, EPS) controller utilizes power generated by an electric motor to assist a driver in power steering. In the automatic driving process, the HAD controller calculates a steering wheel angle for the EPS controller according to the road route, the own state and the like, so as to realize the lateral control of the vehicle.
However, in some vehicle types, the EPS controller can only be controlled by torque, and the steering wheel angle cannot be directly input to the EPS controller, but the steering wheel angle needs to be converted into torque first, and then the torque is input to the EPS controller. Therefore, an efficient control strategy is needed to realize the conversion from steering wheel angle to torque, and complete the opening of the whole transverse control link.
At present, the mainstream conversion means in the market is a pid controller, the calculation of the control means is quick, the algorithm is simple, but the requirement on parameter precision is higher, in general cases, the difference of control parameters of a vehicle under a high-speed condition and a low-speed condition is obvious, the controller needs to be recalibrated according to different vehicle conditions, and the parameter adjustment is troublesome.
Disclosure of Invention
The invention provides an angle control method, device, equipment and medium based on linear active disturbance rejection, which are used for reducing input torque deviation caused by parameter inaccuracy and measurement jitter.
According to an aspect of the present invention, there is provided an angle control method based on linear active disturbance rejection, including:
determining a feedforward theoretical value from an expected steering angle of a steering wheel
Determining a feedback value of the linear active disturbance rejection according to the expected rotation angle of the steering wheel and the linear active disturbance rejection control component;
determining the input torque of an EPS controller according to the feedforward theoretical value and the feedback value, and inputting the input torque to the EPS controller;
the linear active disturbance rejection control assembly comprises a linear tracking differential controller, a linear state error feedback device and an extended observation state device.
According to another aspect of the present invention, there is provided an angle control method based on linear active disturbance rejection, including:
a feedforward theoretical value determining module for determining a feedforward theoretical value according to an expected rotation angle of the steering wheel
The feedback value determining module is used for determining a feedback value of the linear active disturbance rejection according to the expected rotation angle of the steering wheel and the linear active disturbance rejection control component;
the input torque determining module is used for determining the input torque of the EPS controller according to the feedforward theoretical value and the feedback value and inputting the input torque to the EPS controller;
the linear active disturbance rejection control assembly comprises a linear tracking differential controller, a linear state error feedback device and an extended observation state device.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the linear active disturbance rejection based angle control method according to any one of the embodiments of the present invention.
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 angle control method based on linear active disturbance rejection according to any embodiment of the present invention when executed.
According to the embodiment of the invention, the rapid convergence of the target angle value is realized through a feedforward process, the linear active disturbance rejection feedback control is fused, the sensor measurement disturbance is restrained, the error of the formula parameter precision is filled, and the algorithm parameter can be set relatively rapidly while good real-time accuracy is ensured.
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 flow chart of an angle control method based on linear active disturbance rejection according to an embodiment of the present invention;
FIG. 1B is a schematic diagram of a lateral algorithm provided in accordance with an embodiment of the present invention;
FIG. 2A is a flow chart of a method for angle control based on linear active disturbance rejection according to yet another embodiment of the present invention;
FIG. 2B is a control flow diagram of a linear active disturbance rejection feedback system according to yet another embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an angle control device based on linear active disturbance rejection according to still another embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device implementing 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.
Fig. 1A is a flowchart of an angle control method based on linear active disturbance rejection, which is applicable to a lateral control direction in the L2 autopilot field, and is configured in an electronic device with corresponding data processing capability, such as a vehicle processor, for an EPS controller to calculate a due steering wheel torque value according to a control value of a current desired angle, and input the steering wheel torque value to the EPS controller, so as to achieve accurate control of a vehicle lateral angle. As shown in fig. 1A, the method includes:
s110, determining a feedforward theoretical value according to the expected rotation angle of the steering wheel.
Specifically, the response speed of the system can be improved through a feedforward process, and the feedforward process is related to the performance parameters of the vehicle and the road condition state, so that the torsion value required by the vehicle under the current working condition needs to be calculated according to a theoretical formula, and the modeling formula is as follows:
T d ＝J sw θ″ sw +C sw θ′ sw +K sw θ sw
wherein T is d A feedforward theoretical value representing the torque value input into the EPS controller, i.e., a target value of the final output. J (J) sw C is the moment of inertia of the steering wheel sw K for steering wheel damping sw Is steering wheel stiffness. θ sw For a desired steering angle of the steering wheel, θ' sw And θ' sw The first and second derivatives are the desired rotation angle. As can be seen from the model formula, the system is a typical second-order system, is derived according to the modern control theory, and is set with two states X 1 And X 2 ，X 1 Angle X representing the desired angle 2 Angular velocity, U, representing the desired angle 1 Instead of T d The feedforward theoretical value representing the torque value input into the EPS controller yields the final equation as follows
U 1 ＝C 1 X 1 +C 2 X 2
Wherein C is 2 Is equal to J sw ,C sw And K sw All the related values can be calculated and determined by combining the three values. And C is 1 Is derived to be K sw . Thus, the feedforward theoretical value may be determined by comprehensive calculation from the steering wheel moment of inertia, steering wheel damping, steering wheel stiffness, angle of the desired angle, and angular velocity of the desired angle.
S120, determining a feedback value of the linear active disturbance rejection according to the expected rotation angle of the steering wheel and the linear active disturbance rejection control component.
The linear active disturbance rejection component is actually a closed-loop control feedback system, and the system mainly comprises three components, wherein the functions of the three components are as follows:
linear tracking differential controller: the filter is divided into linear and nonlinear, is essentially a low-pass filter, and is used for smoothing instructions and reducing overshoot of the closed-loop transfer function (the peak value of the closed-loop transfer function is reduced to below 0 dB).
Linear state error feedback: as with the feedback controller in the classical feedback control architecture, the goal is to have the error equal to 0, with linear combinations and various non-linear combinations, most commonly the PD controller in the ladc, and occasionally also for example the dynamic gain-like processing in the fal function, with the gain unchanged over a range of errors, and then the gain reduced or increased, i.e. small error large gain or small error small gain.
Extended observation state machine: on the assumption that the system model is a pure integral series type, all other terms (neglected model and external disturbance (noise)) are unified into total disturbance, and a linear Luneberg observer is designed to observe the total disturbance.
Specifically, the convergence of the target value cannot be completed only by using the feedforward theoretical value, the feedforward theoretical value is directly input into the EPS controller, and the vehicle cannot rotate by a corresponding angle according to the expected rotation angle of the steering wheel. Therefore, a linear active disturbance rejection mode is also needed to be used for acquiring an actual angle signal of the steering wheel fed back by the vehicle SAS sensor, and the torque error of the whole transverse control system is compensated by observing the error (deviation) between the actual angle signal and the expected angle, so as to obtain a feedback value of a theoretical feedforward value. In the process, linear active disturbance rejection control is adopted, and an extended observation state machine exists in the control method, so that errors of model parameters and errors of system torque can be adaptively adjusted, and compared with the traditional pid control, the torque can be better compensated. Meanwhile, the linear active disturbance rejection control strategy only needs 3 control parameters, wherein two parameters have definite physical significance, and the calibration and the debugging of the model are convenient.
S130, determining the input torque of the EPS controller according to the feedforward theoretical value and the feedback value, and inputting the input torque to the EPS controller.
Specifically, the feedforward theoretical value and the feedback value after the linear disturbance rejection compensation are added and sent to an EPS controller, the conversion process from an angle interface to a torque interface is completed, and the accurate control of the input torque from the steering wheel angle of the vehicle to the EPS system is realized.
Fig. 1B is a schematic diagram of a lateral algorithm provided in accordance with the present invention. The disturbance caused by a formula and a measurement quantity is restrained by using a feedback technology of linear active disturbance rejection, and the steering wheel angle is quickly and accurately converted into a feedback value of an EPS control moment value. Because of gradient, speed difference and other factors, the error obtained by the estimation is greatly lagged, so that the EPS control torque value needs to be estimated through a feedforward and feedback process. The feedforward can improve the reaction speed of the system, and the feedback can ensure the stability and accuracy of control.
According to the embodiment of the invention, the rapid convergence of the target angle value is realized through a feedforward process, the linear active disturbance rejection feedback control is fused, the sensor measurement disturbance is restrained, the error of the formula parameter precision is filled, and the algorithm parameter can be set relatively rapidly while good real-time accuracy is ensured.
Fig. 2A is a flowchart of an angle control method based on linear active disturbance rejection according to another embodiment of the present invention, where the embodiment is optimized and improved based on the foregoing embodiment. As shown in fig. 2A, the method includes:
s210, determining a feedforward theoretical value according to the angle of the expected steering angle of the steering wheel and the steering wheel rigidity. Specifically, for the model formula derived in the above embodiment
U 1 ＝C 1 X 1 +C 2 X 2
Because the rotational inertia and damping parameters of the steering wheel are not easy to estimate, and the influence of the loss of the rotational inertia and the damping parameters on the accuracy of calculating the feedforward theoretical value is low after a plurality of tests. Thus C can be assumed in the control algorithm 2 0, only by X 1 That is, the angle value calculates the feedforward torque value. The optimized model formula can be expressed as follows
U 1 ＝K sw X 1
Wherein K is sw Although the steering wheel rigidity is related to the vehicle speed and the steering wheel angle, the steering wheel rigidity represents the degree of the steering wheel stable alignment, so that the K is needed to be controlled according to the vehicle speed and the angle of the steering wheel in real vehicle control sw And calibrating parameters.
S220, inputting an expected rotation angle of the steering wheel to the linear tracking differential controller to obtain a current expected tracking angle and a current expected tracking angular speed; and inputting a historical intermediate feedback value and an actual steering wheel angle to the extended observation state machine to obtain a current actual tracking angle, a current actual tracking angular speed and a current disturbance.
S230, determining an angle deviation according to the current actual tracking angle and the current expected tracking angle, and determining an angular velocity deviation according to the current actual tracking angular velocity and the current expected tracking angular velocity.
S240, inputting the angular speed deviation and the angle deviation into the linear state error feedback device to obtain a current intermediate feedback value;
s250, obtaining a final feedback value according to the current intermediate feedback value, the system inherent estimation parameter and the disturbance.
Specifically, a control flow diagram of the linear active disturbance rejection feedback system is shown in fig. 2B. The linear tracking differential controller in the flow chart has the function of arranging a transition process for the input expected acceleration, extracting an input signal containing random noise and a differential signal thereof, solving the problems of overshoot when the contradiction gain between PID overshoot and rapidity is large and poor rapidity when the gain is small. The linear expansion state observer is the core of the whole system, is mainly used for estimating the real-time action value of the disturbance inside and outside the system, compensates in the feedback, and eliminates the influence of the disturbance by using a compensation method, thereby having the anti-interference effect. It is essentially a leber observer, z1 is the actual tracking angle, and β is the linear parameter of the dilation observer. In the frequency domain, the disturbance observer essentially designs a sensitivity function (anti-disturbance characteristic) on the basis of not changing a closed-loop transfer function, which is equivalent to decoupling design of closed-loop performance and anti-disturbance performance. The linear state error feedback device is mainly used for suppressing disturbance, calculating errors of a system state and a derivative thereof obtained by the extended state observer according to a signal given by the tracking differentiator and the differentiation thereof, calculating a control quantity by using a nonlinear combination method, and compensating the disturbance of a measured value. Intermediate feedback value u output by linear state error feedback device 0 It is also necessary to subtract the systematic perturbation z observed by the observer 3 And divided by the system inherent estimation parameter b 0 Can be used as the final feedback value U output by the whole control system.
Optionally, the current actual tracking angle z 1 (k+1), current actual tracking angular velocity z 2 (k+1) and the current disturbance z 3 (k+1) is determined by the following formula, respectively:
e＝z 1 (k)-y
z 1 (k+1)＝z 1 (k)+h(z 2 (k)-β 1 *e)
z 2 (k+1)＝z 2 (k)+h(z 3 (k)-β 2 *e+b 0 *U(k))
z 3 (k+1)＝z 3 (k)+h(-β 3 *e)
β 1 ＝3*w,β 2 ＝3*w*w,β 3 ＝w*w*w
wherein b 0 Is an inherent parameter of the system, y is the actual steering wheel angle, beta 1 、β 2 、β 3 For the parameters of the extended observer, w is the system bandwidth, (k+1) represents the current period, (k) represents the previous period, U is the final feedback value, and h is the simulation step of the fastest synthesis function in the linear tracking differential controller.
Specifically, the core of a linear observer (extended observation state machine) is to linearize the observer to avoid tuning of many parameters. Beta is a linear coefficient of observer linearization, which can be empirically derived to correlate with the system bandwidth and determine based on the bandwidth, which is typically valued in the range of 20-40.
Optionally, the current intermediate feedback value u 0 (k+1) is determined by the following formula:
u 0 (k+1)＝k 1 e 1 (k+1)+k 2 e 2 (k+1)
e 1 (k+1)＝a 1 (k+1)-z 1 (k+1)
e 2 (k+1)＝a 2 (k+1)-z 2 (k+1)
wherein e 1 E is the angle deviation 2 For angular velocity deviation, a 1 To desire tracking angle, a 2 To desire tracking angular velocity, z 1 To actually track the angle, z 2 For the actual tracking angular velocity, (k+1) represents the current period, (k) represents the previous period, k 1 And k 2 Are determined according to the system bandwidth.
Specifically, in the formula, k 1 And k 2 The value of (2) is also related to the system bandwidth, generally k 1 2 times system bandwidth, k 2 Is the square of the system bandwidth.
Optionally, the current desired tracking angle a 1 (k+1) and the current desired tracking angular velocity a 2 (k+1) is determined by the following formula:
fh＝fhan(a 1 (k)-θ,a 2 (k),r,h)
a 1 (k+1)＝a 1 (k)+h*a 2 (k)
a 2 (k+1)＝a 2 (k)+h*fh
wherein fhan is the fastest synthesis function, h is the simulation step length, (k+1) represents the current period, (k) represents the previous period, and θ is the desired angle.
Specifically, f is the fastest synthesis function fhan, and the formula of the function is as follows:
f＝fhan(a1(k)-ades(k),a2(k),r,h0)
where r is a fast factor. The larger the r value, the faster the convergence to the target value. Generally, since the aligning torque is large in the high-speed state, the r value is high in the high-speed state and small in the low-speed state.
Optionally, the final feedback value U (k+1) is determined by the following formula:
U(k+1)＝(u 0 (k+1)-z 3 (k+1))/b 0
wherein (k+1) represents the current period, z 3 For disturbance, u 0 B is an intermediate feedback value 0 Is an intrinsic parameter of the system.
Specifically, in the active disturbance rejection theory, it is required to assume that the whole system is an integral series system, that is, the derivative of the system output and the input quantity are in a linear relationship. The following formula can be written:
wherein, thereinU is the input of the controller, which is the output of the system,b is a system intrinsic parameter, and f1 (y, w, t) represents the interference of the whole system. w represents the system's external disturbance and t represents the system's time-varying parameters.
Mathematically transforming the input by inputting u= (U) 0 -z 3 )/b o Brought into the system equation, b o Representing an estimate of the system intrinsic parameter b, z 3 Representing the systematic error observed by the observer, and therefore eventually approaching f1 (y, w, t), it can be finally expressed as:
the system thus becomes a simple integrator system from a control point of view, and by this construction the final torque compensation output can be calculated.
And S260, determining the input torque of the EPS controller according to the feedforward theoretical value and the feedback value, and inputting the input torque to the EPS controller.
According to the embodiment of the invention, the auto-disturbance rejection control method is used for calculating the steering wheel angle turning torque, and the influence of disturbance is effectively reduced and the robustness of the whole algorithm is improved through tracking the differential controller, expanding the observation state device and the linear state feedback device; by the design of the bandwidth method, the difficulty of parameter adjustment of the system is effectively reduced, and the R value of the tracker can be controlled to realize the rapid calibration of the vehicle in a high-low speed state.
Fig. 3 is a schematic structural diagram of an angle control device based on linear active disturbance rejection according to another embodiment of the present invention. As shown in fig. 3, the apparatus includes:
a feedforward theoretical value determining module 310 for determining a feedforward theoretical value according to a desired steering angle of the steering wheel
A feedback value determining module 320, configured to determine a feedback value of the linear active disturbance rejection according to the desired rotation angle of the steering wheel and the linear active disturbance rejection control component;
an input torque determining module 330, configured to determine an input torque of an EPS controller according to the feedforward theoretical value and the feedback value, and input the input torque to the EPS controller;
the linear active disturbance rejection control assembly comprises a linear tracking differential controller, a linear state error feedback device and an extended observation state device.
The angle control device based on the linear active disturbance rejection provided by the embodiment of the invention can execute the angle control method based on the linear active disturbance rejection provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method
Optionally, the feedback value determining module 320 includes:
the expected data acquisition unit is used for inputting an expected rotation angle of the steering wheel to the linear tracking differential controller to obtain a current expected tracking angle and a current expected tracking angular speed;
the actual data acquisition unit is used for inputting a historical intermediate feedback value and an actual steering wheel angle to the extended observation state machine to obtain a current actual tracking angle, a current actual tracking angular speed and a current disturbance;
the deviation data acquisition unit is used for determining an angle deviation according to the current actual tracking angle and the current expected tracking angle, and determining an angular velocity deviation according to the current actual tracking angular velocity and the current expected tracking angular velocity;
the intermediate feedback value determining unit is used for inputting the angular speed deviation and the angular deviation into the linear state error feedback device to obtain a current intermediate feedback value;
and the final feedback value determining unit is used for obtaining a final feedback value according to the current intermediate feedback value, the system inherent estimation parameter and the disturbance.
Optionally, the present actual tracking angle z 1 (k+1), current actual tracking angular velocity z 2 (k+1) and the current disturbance z 3 (k+1) is determined by the following formula, respectively:
e＝z 1 (k)-y
z 1 (k+1)＝z 1 (k)+h(z 2 (k)-β 1 *e)
z 2 (k+1)＝z 2 (k)+h(z 3 (k)-γ 2 *e+b 0 *U(k))
z 3 (k+1)＝z 3 (k)+h(-β 3 *e)
β 1 ＝3*w,β 2 ＝3*w*w,β 3 ＝w*w*w
wherein b 0 Is an inherent parameter of the system, y is the actual steering wheel angle, beta 1 、β 2 、β 3 For the parameters of the extended observer, w is the system bandwidth, (k+1) represents the current period, (k) represents the previous period, U is the final feedback value, and h is the simulation step of the fastest synthesis function in the linear tracking differential controller.
Optionally, the current intermediate feedback value u 0 (k+1) is determined by the following formula:
u 0 (k+1)＝k 1 e 1 (k+1)+k 2 e 2 (k+1)
e 1 (k+1)＝a 1 (k+1)-z 1 (k+1)
e 2 (k+1)＝a 2 (k+1)-z 2 (k+1)
wherein e 1 E is the angle deviation 2 For angular velocity deviation, a 1 To desire tracking angle, a 2 To desire tracking angular velocity, z 1 To actually track the angle, z 2 For the actual tracking angular velocity, (k+1) represents the current period, (k) represents the previous period, k 1 And k 2 Are determined according to the system bandwidth.
Optionally, the current desired tracking angle a 1 (k+1) and the current desired tracking angular velocity a 2 (k+1) is determined by the following formula:
fh＝fhan(a 1 (k)-θ,a 2 (k),r,h)
a 1 (k+1)＝a 1 (k)+h*a 2 (k)
a 2 (k+1)＝a 2 (k)+h*fh
wherein fhan is the fastest synthesis function, h is the simulation step length, (k+1) represents the current period, (k) represents the previous period, and θ is the desired angle.
Optionally, the final feedback value U (k+1) is determined by the following formula:
U(k+1)＝(u 0 (k+1)-z 3 (k+1))/b 0
wherein (k+1) represents the current period, z 3 For disturbance, u 0 B is an intermediate feedback value 0 Is an intrinsic parameter of the system.
Optionally, the feedforward theoretical value determining module 310 is specifically configured to determine the feedforward theoretical value according to an angle of a desired steering angle of the steering wheel and the steering wheel stiffness.
The angle control device based on the linear active disturbance rejection further can execute the angle control method based on the linear active disturbance rejection provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Fig. 4 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. 4, 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 angle control method based on linear active disturbance rejection.
In some embodiments, the angle control method of linear active disturbance rejection may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the 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 angle control method of linear active disturbance rejection described above may be performed. Alternatively, in other embodiments, processor 41 may be configured to perform the angle control method of linear active disturbance rejection 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 a user, 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 user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user 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., a user computer having a graphical user interface or a web browser through which a user 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 (10)
1. An angle control method based on linear active disturbance rejection, which is characterized by comprising the following steps:
determining a feedforward theoretical value from an expected steering angle of a steering wheel
Determining a feedback value of the linear active disturbance rejection according to the expected rotation angle of the steering wheel and the linear active disturbance rejection control component;
determining the input torque of an EPS controller according to the feedforward theoretical value and the feedback value, and inputting the input torque to the EPS controller;
the linear active disturbance rejection control assembly comprises a linear tracking differential controller, a linear state error feedback device and an extended observation state device.
2. The method of claim 1, wherein determining the feedback value for the linear active disturbance rejection based on the desired steering angle of the steering wheel and the linear active disturbance rejection control component comprises:
inputting an expected rotation angle of the steering wheel to the linear tracking differential controller to obtain a current expected tracking angle and a current expected tracking angular speed;
inputting a historical intermediate feedback value and an actual steering wheel angle to the extended observation state machine to obtain a current actual tracking angle, a current actual tracking angular speed and a current disturbance;
determining an angle deviation according to the current actual tracking angle and the current expected tracking angle, and determining an angular velocity deviation according to the current actual tracking angular velocity and the current expected tracking angular velocity;
inputting the angular speed deviation and the angular deviation into the linear state error feedback device to obtain a current intermediate feedback value;
and obtaining a final feedback value according to the current intermediate feedback value, the system inherent estimation parameter and the disturbance.
3. The method according to claim 2, characterized in that the current actual tracking angle z 1 (k+1), current actual tracking angular velocity z 2 (k+1) and the current disturbance z 3 (k+1) is determined by the following formula, respectively:
e＝z 1 (k)-y
z 1 (k+1)＝z 1 (k)+h(z 2 (k)-β 1 *e)
z 2 (k+1)＝z 2 (k)+h(z 3 (k)-β 2 *e+b 0 *U(k))
z 3 (k+1)＝z 3 (k)+h(-β 3 *e)
β 1 ＝3*w,β 2 ＝3*w*w,β 3 ＝w*w*w
wherein b 0 Is an inherent parameter of the system, y is the actual steering wheel angle, beta 1 、β 2 、β 3 For the parameters of the extended observer, w is the system bandwidth, (k+1) represents the current period, (k) represents the previous period, U is the final feedback value, and h is the simulation step of the fastest synthesis function in the linear tracking differential controller.
4. The method according to claim 2, characterized in that the current intermediate feedback value u 0 (k+1) is determined by the following formula:
u 0 (k+1)＝k 1 e 1 (k+1)+k 2 e 2 (k+1)
e 1 (k+1)＝a 1 (k+1)-z 1 (k+1)
e 2 (k+1)＝a 2 (k+1)-z 2 (k+1)
wherein e 1 E is the angle deviation 2 For angular velocity deviation, a 1 To desire tracking angle, a 2 To desire tracking angular velocity, z 1 To actually track the angle, z 2 For the actual tracking angular velocity, (k+1) represents the current period, (k) represents the previous period, k 1 And k 2 Are determined according to the system bandwidth.
5. The method according to claim 2, wherein the current desired tracking angle a 1 (k+1) and the current desired tracking angular velocity a 2 (k+1) is determined by the following formula:
fh＝fhan(a 1 (k)-θ,a 2 (k),r,h)
a 1 (k+1)＝a 1 (k)+h*a 2 (k)
a 2 (k+1)＝a 2 (k)+h*fh
wherein fhan is the fastest synthesis function, h is the simulation step length, (k+1) represents the current period, (k) represents the previous period, and θ is the desired angle.
6. Method according to claim 2, characterized in that the final feedback value U (k+1) is determined by the following formula:
U(k+1)＝(u 0 (k+1)-z 3 (k+1))/b 0
wherein (k+1) represents the current period, z 3 For disturbance, u 0 B is an intermediate feedback value 0 Is an intrinsic parameter of the system.
7. The method of claim 1, wherein determining a feed-forward theoretical value based on a desired steering angle of the steering wheel comprises:
a feedforward theoretical value is determined based on the angle of the desired steering angle and the steering wheel stiffness.
8. An angle control method based on linear active disturbance rejection, which is characterized by comprising the following steps:
a feedforward theoretical value determining module for determining a feedforward theoretical value according to an expected rotation angle of the steering wheel
The feedback value determining module is used for determining a feedback value of the linear active disturbance rejection according to the expected rotation angle of the steering wheel and the linear active disturbance rejection control component;
the input torque determining module is used for determining the input torque of the EPS controller according to the feedforward theoretical value and the feedback value and inputting the input torque to the EPS controller;
the linear active disturbance rejection control assembly comprises a linear tracking differential controller, a linear state error feedback device and an extended observation state device.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the linear active disturbance based angle control method according to any one of claims 1 to 7.
10. A computer readable storage medium storing computer instructions for causing a processor to implement the linear active disturbance rejection based angle control method according to any one of claims 1 to 7 when executed.
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| CN117031967B (en) * | 2023-10-10 | 2024-01-23 | 华南理工大学 | Iterative learning active disturbance rejection control method |
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