CN117192726A - Quick reflector control method and device based on improved active disturbance rejection control - Google Patents
Quick reflector control method and device based on improved active disturbance rejection control Download PDFInfo
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Abstract
The application discloses a rapid reflector control method and device based on improved active disturbance rejection control, belongs to the technical field of tracking control, and aims to solve the technical problems that an extended state observer in the conventional rapid reflector system is easy to be sensitive to measurement noise, high-frequency noise passes through the extended state observer, so that disturbance estimation is polluted and the performance of a controller is influenced. The method comprises the following steps: inputting the actual output quantity of the quick reflector model into a Kalman filter, and carrying out noise disturbance filtering on the actual output quantity to obtain a filtering value; inputting the filtered value and the control quantity into a model auxiliary expansion state observer, and performing disturbance estimation calculation on the filtered value to obtain a total disturbance estimated quantity; feedback control on the linear state error is carried out on the total disturbance estimated quantity, and a linear state error feedback control law is obtained; the auto-disturbance rejection control of the fast reflector is realized through a closed loop system transfer function and a preset zero phase difference feedforward controller.
Description
Technical Field
The application relates to the field of tracking control, in particular to a rapid reflector control method and device based on improved active disturbance rejection control.
Background
The quick reflector is a reflector device for realizing the light beam pointing control between a target and a receiver, has the advantages of high response speed and high control precision, and is widely applied to systems such as aerial imaging, space detection, laser communication, laser guidance and the like to realize the functions of stable visual axis, image motion compensation, aiming tracking and the like. The field is generally affected by atmospheric disturbance and platform vibration, and the fast reflector is required to have higher working bandwidth, angular resolution, pointing precision and rotation angle range, and has high requirements on environmental adaptability of the system and the like.
The active disturbance rejection control is to expand nonlinearity and uncertainty into a new state variable by using an extended state observer, consider the system total disturbance, and compensate at a control input end, so that the tracking precision and the disturbance rejection capability of the quick reflector system are improved.
However, the conventional active-disturbance-rejection controller needs to select a high gain for the extended state observer to achieve rapidity and accuracy of estimation, however, the high gain can make the extended state observer sensitive to measurement noise, so that high-frequency noise passes through the extended state observer to pollute the estimation, and the performance of the controller is greatly affected.
Disclosure of Invention
The embodiment of the application provides a rapid reflector control method and device based on improved active disturbance rejection control, which are used for solving the following technical problems: the extended state observer in the existing quick reflector system is easy to be sensitive to measurement noise, so that high-frequency noise passes through the extended state observer, thereby polluting disturbance estimation and affecting the performance of the controller.
The embodiment of the application adopts the following technical scheme:
in one aspect, an embodiment of the present application provides a method for controlling a fast mirror based on improved auto-disturbance rejection control, including determining a fast mirror model based on deterministic identification of a fast mirror system; inputting the actual output quantity of the quick reflector model into a Kalman filter, and carrying out noise disturbance filtering on the actual output quantity according to the Kalman filter to obtain a filtering value; inputting the filtering value and the uncertainty in the quick reflector system into a model-assisted extended state observer, and performing disturbance estimation calculation on the filtering value through the model-assisted extended state observer to obtain a total disturbance estimator; performing feedback control on the total disturbance estimated quantity related to the linear state error to obtain a linear state error feedback control law; and determining a closed loop system transfer function based on the quick reflector system, the Kalman filter, the model auxiliary extended state observer and the linear state error feedback control law, and realizing active disturbance rejection control on the quick reflector through the closed loop system transfer function and a preset zero phase difference feedforward controller.
According to the embodiment of the application, the Kalman filter is introduced into the quick reflector, so that the influence of the accuracy, the rapidity and the measurement noise on the gain of the model auxiliary extended state observer can be overcome, the pollution of the high-frequency noise on the model auxiliary extended state observer is weakened under the condition of higher gain, and the control performance and the anti-interference capability of the quick reflector system are further improved. Meanwhile, a zero phase difference feedforward controller is introduced, so that the phase lag of the quick reflector system is reduced, and the bandwidth of the quick reflector system is improved. And the fast reflector system, the Kalman filter, the model-assisted extended state observer and the linear state error feedback control law are combined into a closed loop system transfer function, so that the active disturbance rejection control of the fast reflector system is improved.
In one possible embodiment, the determination of the fast-mirror model based on deterministic identification of the fast-mirror system specifically comprises: the quick reflector system is subjected to self-system certainty judgment through certainty identification in the quick reflector system, and a deterministic system part and an uncertainty system part are identified; wherein the deterministic system portion is a transfer function; based on the deterministic system portion, the fast mirror model is determined.
In a possible implementation manner, the fast mirror model performs state space conversion, specifically including: according toObtaining a state space description of the fast mirror model; wherein A, B and C are parameter matrices of the fast mirror system; u is the control quantity of the quick reflector system, ζ is the measurement noise of the quick reflector system, x is the actual input quantity of the quick reflector model, y 0 For the actual output of the fast mirror model,/for the fast mirror model>And y is the control output quantity, which is the first derivative of the actual input quantity.
In a possible implementation manner, according to the kalman filter, noise disturbance filtering is performed on the actual output quantity to obtain a filtered value, which specifically includes: according toObtaining an estimated derivative based on said Kalman filter>Kalman estimation value +.>Wherein A, B and C are parameter matrices of the quick reflector system, B d Is a disturbance matrix; k is the filter gain matrix, ">Assisting the model with an estimate of the total disturbance of the fast mirror system by the extended state observer,/->Is the estimated value of the actual input quantity x in the quick reflector model, y 0 The actual output quantity of the quick reflector model is u, and u is the control quantity of the quick reflector system; wherein said filtered value is derived from said estimated value +.>Said Kalman estimation value +.>Composition is prepared.
In a possible implementation manner, the model assists the extended state observer to perform disturbance estimation calculation on the filtered value to obtain a total disturbance estimated value, which specifically includes: according to f a ＝ω+(b-b 0 ) u, obtaining a total disturbance estimate f of the fast mirror system based on the model-assisted extended state observer a The method comprises the steps of carrying out a first treatment on the surface of the Wherein b is a quantitative parameter of the model-assisted extended state observer, b 0 For the extended state observer parameters ω is the external disturbance variable and u is the control variable of the fast mirror system.
In a possible implementation manner, after the model assists the extended state observer to perform disturbance estimation calculation on the filtered value to obtain a total disturbance estimated value, the method specifically includes: according toObtaining a matrix form of the quick reflector system under external disturbance quantity; wherein A is 1 、B 1 C 1 The two are expansion state matrixes, and E is a disturbance transfer matrix; />Assisting a state vector of the extended state observer for the model, and f a For the total disturbance estimator, y is the output of the model assisted extended state observer, and u is the control of the fast mirror system; according to->Obtaining an estimate of the model assisted extended state observer +.>Wherein (1)>z 1 Z 2 For the observation state from the model assisted expanded state observer, +.>Aiding the model with an estimate of the total perturbation of the fast mirror system by the extended state observer; l= [ L ] 1 l 2 l 3 ] T Assisting a gain matrix of an extended state observer for the model; />The model assists the output vector of the extended state observer; />Is a kalman estimation.
In a possible embodiment, according toObtaining a gain matrix L of the model auxiliary extended state observer; wherein omega 0 A for assisting the bandwidth of the extended state observer for the model, a 0 A) 1 Are all quantitative parameters.
In a possible implementation manner, feedback control on the total disturbance estimated quantity is performed on the linear state error to obtain a linear state error feedback control law, which specifically includes: according to u 0 ＝k p (r-z 1 )-k d z 2 Obtaining the linear state error feedback control law u 0 The method comprises the steps of carrying out a first treatment on the surface of the Wherein z is 1 Z 2 For coming from the modelThe observation state of the auxiliary extended state observer, r is the output value of the zero phase difference feedforward controller, k p To calculate the coefficients for the scale, k d Calculating coefficients for the differentiation; wherein k is p ＝ω c 2 ,k d ＝2ω c ；ω c Is the bandwidth of the PD controller.
In a possible implementation manner, a closed loop system transfer function is determined based on the fast mirror system, the kalman filter, the model-assisted extended state observer and the linear state error feedback control law, and the fast mirror is subjected to active disturbance rejection control by the closed loop system transfer function and a preset zero phase difference feedforward controller, which specifically includes: according toObtaining the transfer function G of the closed loop system c (z -1 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein z is -d D-beat hysteresis for closed loop system, A a (z -1 ) Is a denominator polynomial, and all the roots are located in a unit circle; b (B) a (z -1 ) B for all stable zeros in the closed loop system transfer function u (z -1 ) All unstable zero points in the transfer function of the closed loop system, wherein z is the estimated quantity of the model auxiliary expansion state observer; according toObtaining a feedforward control function F (z) of the zero-phase-difference feedforward controller -1 )；z d The d-beat phase of the feedforward control system is advanced.
In another aspect, an embodiment of the present application further provides a fast mirror control apparatus based on improved active disturbance rejection control, the apparatus including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a fast mirror control method based on improved active-disturbance-rejection control as in any of the above embodiments.
Compared with the prior art, the embodiment of the application has the following beneficial technical effects:
according to the embodiment of the application, the Kalman filter is introduced into the quick reflector, so that the influence of the accuracy, the rapidity and the measurement noise on the gain of the model auxiliary extended state observer can be overcome, the pollution of the high-frequency noise on the model auxiliary extended state observer is weakened under the condition of higher gain, and the control performance and the anti-interference capability of the quick reflector system are further improved. Meanwhile, a zero phase difference feedforward controller is introduced, so that the phase lag of the quick reflector system is reduced, and the bandwidth of the quick reflector system is improved. And the fast reflector system, the Kalman filter, the model-assisted extended state observer and the linear state error feedback control law are combined into a closed loop system transfer function, so that the active disturbance rejection control of the fast reflector system is improved.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art. In the drawings:
FIG. 1 is a flowchart of a method for controlling a fast mirror based on improved auto-disturbance rejection control according to an embodiment of the present application;
FIG. 2 is a control block diagram of a fast mirror improved auto-disturbance-rejection controller based on Kalman filtering according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a fast mirror control device based on improved active disturbance rejection control according to an embodiment of the present application.
Detailed Description
In order to make the technical solution of the present application better understood by those skilled in the art, the technical solution of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
The embodiment of the application provides a rapid reflector control method based on improved active disturbance rejection control, as shown in fig. 1, the rapid reflector control method based on improved active disturbance rejection control specifically comprises the following steps of S101-S105:
s101, determining a quick reflector model based on the deterministic identification of the quick reflector system.
Specifically, the deterministic identification in the rapid mirror system is used for carrying out the deterministic judgment of the system of the rapid mirror system, and the deterministic system part and the uncertainty system part are identified. Wherein the deterministic system portion may be a second order transfer function.
As a possible implementation, the fast mirror system is divided into two parts, one part being a deterministic system part that can be obtained by system identification and one part being an uncertainty system part that cannot be obtained by system identification. And obtaining a deterministic system part of the quick reflector by utilizing system identification, wherein the deterministic system part is a second-order transfer function or a differential equation, the quick reflector is output to be an angular position, and the actual output quantity well contains some high-frequency noise quantity.
Further, based on deterministic system portions and according toObtaining the fast reflector model G 0 (s). Where s is the state quantity of the fast mirror model.
Further, the fast mirror model is further subjected to state space conversion, which comprises the following steps: according toA state space description of the fast mirror model is obtained. Wherein A, B and C are parameter matrices of the fast mirror system, anAnd +.>u is the control quantity of the quick reflector system, ζ is the measurement noise of the quick reflector system, x is the actual input quantity of the quick reflector model, y 0 For the actual output of the fast mirror model, < +.>And y is the control output quantity, which is the first derivative of the actual input quantity.
In one embodiment, fig. 2 is a control block diagram of a fast mirror improved active-disturbance-rejection controller based on kalman filtering according to an embodiment of the present application, and as shown in fig. 2, the control block diagram of the fast mirror improved active-disturbance-rejection controller based on kalman filtering includes a kalman filter, a model-assisted extended state observer (preferably, the model-assisted extended state observer may be replaced by a linear extended state observer), a linear state error feedback control law, and a zero-phase-difference feedforward controller. R is a reference signal, R is the output of a feedforward control function in a zero-phase-difference feedforward controller, u is the control quantity of the fast mirror system, b 0 For the extended state observer parameters, y is the actual output of the fast mirror model, z x ＝[z 1 z 2 ]An estimator for model-assisted extended state observer,For model-assisted extended state observer estimation of total perturbation of the fast mirror system, i.e. z x ＝[z 1 z 2 ]Aiding the estimation of the total perturbation of the diagonal position of the extended state observer for the model, and>for model assisted estimation of differential angular velocity and total disturbance of angular position of the model extended state observer, +.>Is a Kalman estimation of the Kalman filter.
S102, inputting the actual output quantity of the quick reflector model into a Kalman filter, and carrying out noise disturbance filtering on the actual output quantity according to the Kalman filter to obtain a filtering value.
In particular according toObtaining the estimated value derivative based on Kalman filter>Kalman estimation value +.>Wherein A, B and C are parameter matrices of the quick reflector system, B d Is a disturbance matrix, and->And +.>K is the filter gain matrix, ">For model-assisted extended state observer estimation of the total disturbance of the fast mirror system, +.>Is the estimated value of the actual input quantity x in the quick reflector model, y 0 The actual output of the quick mirror model, u, is the control of the quick mirror system.
Further, after the actual output quantity is subjected to noise disturbanceAfter filtering, a filtered value is obtained, which is derived from the estimated valueKalman estimation value +.>Composition is prepared.
In one embodiment, as shown in fig. 2, the actual output of the fast mirror is noise filtered by a kalman filter, and three signals input to the kalman filter are respectively a control quantity signal, an actual output quantity signal and an estimated quantity signal of the total disturbance output by the model-assisted extended state observer, and one output signal of the kalman filter is a filtered value of the actual output quantity information.
S103, inputting the filtered value and the control quantity in the quick reflector system into a model-assisted extended state observer, and performing disturbance estimation calculation on the filtered value through the model-assisted extended state observer to obtain a total disturbance estimated quantity.
Specifically, the fast mirror system is first written as a differential form:then adding the external disturbance to be considered to the above formula to obtain: />Then according to f a ＝ω+(b-b 0 ) u, obtaining the total disturbance estimation f of the fast mirror system based on the model-assisted extended state observer a . Wherein b is a quantitative parameter of the model-assisted extended state observer, b 0 For the extended state observer parameters ω is the external disturbance variable and u is the control variable of the fast mirror system.
Further, a total disturbance estimator f based on a model-assisted extended state observer a And then selecting state variables:x 3 ＝f a then according to->A matrix form of the fast mirror system under external disturbance is obtained. Wherein A is 1 、B 1 C 1 Are all extended state matrixes, E is a disturbance transfer matrix, andc 1 ＝[1 0 0]；a 0 ＝194300，a 1 ＝60.71，b 0 ＝314800。/>A state vector that is a model-assisted extended state observer, and f a For the total disturbance estimator, y is the output of the model assisted extended state observer and u is the control of the fast mirror system.
Further, according toObtaining an estimate of the model assisted extended state observer +.>Wherein (1)>z 1 Z 2 For the observation state from the model assisted extended state observer, +.>The model is used for assisting the estimation of the total disturbance of the quick reflector system by the extended state observer. L= [ L ] 1 l 2 l 3 ] T The gain matrix of the extended state observer is aided for the model. />Model assistThe output vector of the extended state observer is aided. />Is a kalman estimation.
The model assisted extended state observer characteristic equation is as follows: λ(s) = |sj-a 1 |＝s 3 +(a 1 +l 1 )s 2 +(a 0 +l 2 +a 1 l 1 )s+a 0 l 1 +a 1 l 2 +l 3 =0, all poles of the model-assisted extended state observer are arranged at the same position- ω 0 On, i.e. according toAnd obtaining a gain matrix L of the model auxiliary extended state observer. Wherein omega 0 Bandwidth for model assisted extended state observer, a 0 A) 1 Are all quantitative parameters, and a 0 ＝194300,a 1 ＝60.71。
In one embodiment, as shown in FIG. 2, the model assisted extended state observer treats the uncertainty system portion of the fast mirror system and the external disturbance as the total disturbance as an extended state, and then based on the state equation and the observed quantity equation of the fast mirror model, the model assisted extended state observer can be designed as a three-order model assisted extended state observer, and the estimated amount z of the model assisted extended state observer and the estimated amount of the total disturbance with respect to the angular position and the differential angular velocity are output, respectivelyAt the same time, estimation of the total disturbance ∈>And also to the kalman filter. The model-assisted extended state observer has two inputs, the filtering values of the Kalman filter, respectively +.>And the control quantity u of the fast mirror system.
And S104, carrying out feedback control on the total disturbance estimated quantity with respect to the linear state error to obtain a linear state error feedback control law.
Specifically, according to u 0 ＝k p (r-z 1 )-k d z 2 Obtaining a linear state error feedback control law u 0 . Wherein z is 1 Z 2 For the observed state from the model assisted extended state observer, r is the output value of the zero phase difference feedforward controller, k p To calculate the coefficients for the scale, k d Coefficients are calculated for the differentiation. k (k) p ＝ω c 2 ,k d ＝2ω c 。ω c Is the bandwidth of the PD controller. Meanwhile, the FSM system control quantity input in the PD controller is as follows:the closed loop transfer function becomes a zero-free pure second-order system:b 0 is an extended state observer parameter.
S105, determining a transfer function of a closed-loop system based on the fast reflector system, the Kalman filter, the extended state observer and the linear state error feedback control law, and realizing the active disturbance rejection control of the fast reflector through the transfer function of the closed-loop system and a preset zero phase difference feedforward controller.
In particular according toObtaining a closed loop system transfer function G c (z -1 ). Wherein z is -d D-beat hysteresis for closed loop system, A a (z -1 ) Is a denominator polynomial and all the roots lie within a unit circle. B (B) a (z -1 ) For all stable zeros in the transfer function of the closed loop system, B u (z -1 ) All unstable zero points in the transfer function of the closed loop system, z is the model-assisted expansionAn estimator of the state observer.
Further according toObtaining a feedforward control function F (z -1 )。z d The d-beat phase of the feedforward control system is advanced.
In one embodiment, as shown in fig. 2, the fast mirror system, the kalman filter, the model-assisted extended state observer, and the linear state error feedback control law are considered as a closed-loop system, and the transfer function of the closed-loop system is obtained through system identification. Meanwhile, the zero-phase-difference feedforward controller is designed based on the closed-loop system transfer function, and the closed-loop system transfer function and the zero-phase-difference feedforward controller are multiplied into a non-negative real number, namely the phase shift of the whole quick reflector system in the frequency domain range is 0. Based on the zero phase difference feedforward controller and the transfer function of the whole closed loop system, the auto-disturbance-rejection control of the quick reflector system is greatly improved, and the technical problems that an extended state observer in the existing quick reflector system is easy to be sensitive to measurement noise, high-frequency noise passes through the extended state observer, so that disturbance estimation is polluted, the performance of the controller is influenced and the like are solved.
In addition, the embodiment of the application further provides a fast mirror control device based on improved active disturbance rejection control, as shown in fig. 3, the fast mirror control device 300 based on improved active disturbance rejection control specifically includes:
at least one processor 301. And a memory 302 communicatively coupled to the at least one processor 301. Wherein the memory 302 stores instructions executable by the at least one processor 301 to enable the at least one processor 301 to perform:
determining a quick reflector model based on the deterministic identification of the quick reflector system;
inputting the actual output quantity of the quick reflector model into a Kalman filter, and carrying out noise disturbance filtration on the actual output quantity according to the Kalman filter to obtain a filtration value;
inputting the filtered value and the control quantity in the quick reflector system into a model auxiliary extended state observer, and performing disturbance estimation calculation on the filtered value through the model auxiliary extended state observer to obtain a total disturbance estimated quantity;
feedback control on the linear state error is carried out on the total disturbance estimated quantity, and a linear state error feedback control law is obtained;
based on the quick reflector system, the Kalman filter, the model auxiliary extended state observer and the linear state error feedback control law, a closed loop system transfer function is determined, and the automatic disturbance rejection control of the quick reflector is realized through the closed loop system transfer function and a preset zero phase difference feedforward controller.
The application provides a rapid reflector control method and device based on improved active disturbance rejection control, which can overcome the influence of accuracy, rapidity and measurement noise on the gain of a model auxiliary extended state observer by introducing a Kalman filter into a rapid reflector, so that the pollution of the model auxiliary extended state observer by high-frequency noise is weakened under the condition of higher gain, and the control performance and the disturbance rejection capability of a rapid reflector system are further improved. Meanwhile, a zero phase difference feedforward controller is introduced, so that the phase lag of the quick reflector system is reduced, and the bandwidth of the quick reflector system is improved. And the fast reflector system, the Kalman filter, the model-assisted extended state observer and the linear state error feedback control law are combined into a closed loop system transfer function, so that the active disturbance rejection control of the fast reflector system is improved.
The embodiments of the present application are described in a progressive manner, and the same and similar parts of the embodiments are all referred to each other, and each embodiment is mainly described in the differences from the other embodiments. In particular, for the apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.
The foregoing describes certain embodiments of the present application. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the embodiments of the application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiments of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A method of controlling a fast mirror based on improved active disturbance rejection control, the method comprising:
determining a quick reflector model based on the deterministic identification of the quick reflector system;
inputting the actual output quantity of the quick reflector model into a Kalman filter, and carrying out noise disturbance filtering on the actual output quantity according to the Kalman filter to obtain a filtering value;
inputting the filtered value and the control quantity in the quick reflector system into a model auxiliary extended state observer, and performing disturbance estimation calculation on the filtered value through the model auxiliary extended state observer to obtain a total disturbance estimated quantity;
performing feedback control on the total disturbance estimated quantity related to the linear state error to obtain a linear state error feedback control law;
and determining a closed loop system transfer function based on the quick reflector system, the Kalman filter, the model auxiliary extended state observer and the linear state error feedback control law, and realizing active disturbance rejection control on the quick reflector through the closed loop system transfer function and a preset zero phase difference feedforward controller.
2. The method for controlling a fast mirror based on improved auto-disturbance rejection control according to claim 1, wherein the fast mirror model is determined based on deterministic identification of the fast mirror system, comprising:
the quick reflector system is subjected to self-system certainty judgment through certainty identification in the quick reflector system, and a deterministic system part and an uncertainty system part are identified; wherein the deterministic system portion is a transfer function;
based on the deterministic system portion, the fast mirror model is determined.
3. The method for controlling a fast mirror based on improved auto-disturbance-rejection control according to claim 2, wherein the transforming the state space of the fast mirror model specifically comprises:
according toObtaining a state space description of the fast mirror model; wherein A, B and C are parameter matrices of the fast mirror system; u is the control quantity of the quick reflector system, ζ is the measurement noise of the quick reflector system, x is the actual input quantity of the quick reflector model, y 0 For the actual output of the fast mirror model,/for the fast mirror model>And y is the control output quantity, which is the first derivative of the actual input quantity.
4. The method for controlling a fast mirror based on improved auto-disturbance-rejection control according to claim 1, wherein the filtering of noise disturbance of the actual output quantity according to the kalman filter to obtain a filtered value comprises:
according toObtaining an estimated derivative based on said Kalman filter>Kalman estimation value +.>Wherein A, B and C are parameter matrices of the quick reflector system, B d Is a disturbance matrix; k is the filter gain matrix, ">Assisting the model with an estimate of the total disturbance of the fast mirror system by the extended state observer,/->Is the estimated value of the actual input quantity x in the quick reflector model, y 0 The actual output quantity of the quick reflector model is u, and u is the control quantity of the quick reflector system;
wherein the filtered value is derived from the estimated valueSaid Kalman estimation value +.>Composition is prepared.
5. The method for controlling a fast mirror based on improved auto-disturbance-rejection control according to claim 1, wherein the model is used to assist an extended state observer to calculate a disturbance estimate from the filtered values, and the method comprises:
according to f a ＝ω+(b-b 0 ) u, obtaining an auxiliary expansion state view based on the modelThe total disturbance estimate fa of the fast mirror system of the detector; wherein b is a quantitative parameter of the model-assisted extended state observer, b 0 For the extended state observer parameters ω is the external disturbance variable and u is the control variable of the fast mirror system.
6. The method for controlling a fast mirror based on improved auto-disturbance-rejection control according to claim 5, wherein after performing disturbance estimation calculation on the filtered values by the model-assisted extended state observer to obtain a total disturbance estimate, comprising:
according toObtaining a matrix form of the quick reflector system under external disturbance quantity; wherein A is 1 、B 1 C 1 The two are expansion state matrixes, and E is a disturbance transfer matrix; />Assisting a state vector of the extended state observer for the model, and f a For the total disturbance estimator, y is the output of the model assisted extended state observer, and u is the control of the fast mirror system;
according toObtaining an estimate of the model assisted extended state observerWherein (1)>z 1 Z 2 For the observation state from the model assisted expanded state observer, +.>Aiding the model with an estimate of the total perturbation of the fast mirror system by the extended state observer; l= [ L ] 1 l 2 l 3 ] T Assisting a gain matrix of an extended state observer for the model; />The model assists the output vector of the extended state observer;is a kalman estimation.
7. The method for controlling a fast mirror based on improved active-disturbance-rejection control according to claim 6, wherein, according toObtaining a gain matrix L of the model auxiliary extended state observer; wherein omega 0 A for assisting the bandwidth of the extended state observer for the model, a 0 A) 1 Are all quantitative parameters.
8. The method of claim 1, wherein the feedback control of the total disturbance estimator with respect to the linear state error is performed to obtain a linear state error feedback control law, and the method specifically comprises:
according to u 0 ＝k p (r-z 1 )-k d z 2 Obtaining the linear state error feedback control law u 0 The method comprises the steps of carrying out a first treatment on the surface of the Wherein z is 1 Z 2 For the observed state from the model-assisted extended state observer, r is the output value of the zero-phase-difference feedforward controller, k p To calculate the coefficients for the scale, k d Calculating coefficients for the differentiation;
wherein k is p ＝ω c 2 ,k d ＝2ω c ；ω c Is the bandwidth of the PD controller.
9. The method for controlling a fast mirror based on improved auto-disturbance-rejection control according to claim 1, wherein a closed-loop system transfer function is determined based on the fast mirror system, the kalman filter, the model-assisted extended state observer and the linear state error feedback control law, and the auto-disturbance-rejection control is implemented by the closed-loop system transfer function and a preset zero phase difference feedforward controller, which specifically includes:
according toObtaining the transfer function G of the closed loop system c (z -1 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein z is -d D-beat hysteresis for closed loop system, A a (z -1 ) Is a denominator polynomial, and all the roots are located in a unit circle; b (B) a (z -1 ) B for all stable zeros in the closed loop system transfer function u (z -1 ) All unstable zero points in the transfer function of the closed loop system, wherein z is the estimated quantity of the model auxiliary expansion state observer;
according toObtaining a feedforward control function F (z) of the zero-phase-difference feedforward controller -1 )；z d The d-beat phase of the feedforward control system is advanced.
10. A fast mirror control device based on improved active disturbance rejection control, the device comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a fast mirror control method based on improved active-disturbance-rejection control according to any one of claims 1 to 9.
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