JP2000298501A - Physical control system where plural driving systems exist - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to quickly restore normal control state from transition state a the time of control system switching by equipping plural physical control systems and plural mathematical control systems and performing FB control by using a deviation regulated by an output and a mathematical input. SOLUTION: A mathematical/physical composite control system is equipped with a physical control system consisting of actuators 9 and 11 and mathematical control systems 7 and 8 which have pairs for forming an irreducible decomposed expression. Also, a deviation normalized by an output from a control object and an input to a mathematical input point is determined as (e), transmission functions of the mathematical control systems 7 and 8 as C1 and C2, and operation functions at the time of converting output u1 and u2 of the actuators 9 and 11 into functions respectively and inputting them to the mathematical control system 8 are determined as F2 and F1. A relation between the output values u1 and u2 and the deviation (e) is indicated by an equation I, and there does exist a solution in which variables F1, F2, are appropriately set and the transmission function C2 from (e) to u2 becomes zero. Thus, physical control in which plural driving systems indicated by an equation II internally exists is performed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a physical control system including a plurality of drive systems, and more particularly, to a plurality of drive systems for controlling the state of an underwater vehicle, a hull, and an aircraft, particularly its attitude. It relates to a physical control system.

[0002]

2. Description of the Related Art It is preferable that the state of a moving body such as a hull or an aircraft receiving resistance of liquid or gas is controlled with high accuracy by a physical control system including a plurality of driving systems. For such posture control of the moving body, physical driving means is used. The actuator, which is a physical driving means, is a driving system for driving a driven body such as a rudder or a wing driven against the action of liquid or gas. The actuator is driving means for applying a physical external force to a driven body, such as a fluid pressure cylinder, a motor, or a fluid discharge type side thruster.

[0003] Such an actuator forming a physical drive system is accompanied by a physical phenomenon that a failure and a control amount are saturated. In order to cope with such failure and saturation of the control amount, a plurality of actuators are provided.
When one actuator fails or saturates, 2
The drive system is switched, and the other actuator starts working.

Unlike an electronic control system, in a physical control system in which a delay occurs between an input and an output to form a motion system and does not respond instantaneously, a normal control state of one actuator is changed to a normal state of another actuator. The transition state time for transition to the control state is not instantaneous. This transition state
There is no control.

FIG. 13 shows a conventional control system. The control system includes a first actuator 10 as a first drive system.
1 and a second controller 104 for controlling the second actuator 103, which is a second drive system, for controlling a single control target 105. Is a physical control system.

Such a control system includes a first controller 1
02 and the second controller 104 independently control the first actuator 101 and the second actuator 103, respectively. When the first actuator 101 and the second actuator 103 are switched by the switch 107, only one of them operates alone. If one of the actuators fails or becomes saturated, the other actuator is operated by the switch 107.
No measures were taken at the time of failure or saturation other than the switching. Since the controller is switched after detecting the failure / saturation, when the failure occurs, the control may be disabled or the control deviation may increase.

It is desired that the internal control state at the time of switching of one control system including a plurality of drive systems be restored to a normal control state promptly without becoming an uncontrolled state. Further, it is required that one of a plurality of control systems is preferentially selected and that the transition is smooth. Further, when the control amount of one drive system is insufficient, it is particularly important to compensate for the shortage by another drive system in real time.

[0008]

SUMMARY OF THE INVENTION An object of the present invention is to prevent the internal transition state at the time of switching of one control system including a plurality of physical drive systems from becoming an uncontrolled state and one control system to be given priority. It is an object of the present invention to provide a physical control system including a plurality of drive systems that can operate and quickly restore a normal control state. Another object of the present invention is to provide a method including a plurality of physical drive systems.
It is an object of the present invention to provide a physical control system in which a plurality of drive systems in which the internal transition state at the time of switching of the control system is not controlled and the normal control state is restored quickly and the transition is smooth are present. . Still another object of the present invention is to quickly return to a normal control state without changing the internal transition state when switching one control system including a plurality of physical drive systems to a non-control state, and to make the transition smooth. Another object of the present invention is to provide a physical control system including a plurality of drive systems that can compensate for the shortage of one drive system in real time when the control amount of one drive system is insufficient.

[0009]

A physical control system including a plurality of drive systems according to the present invention is a physical control system for controlling an output of a drive system for driving a physical control object. The control system consists of a mathematical and physical interface between the mathematical input point for inputting the target control force and the physical input point for inputting the actual control force to the physical control object. A complex control system is provided, and the mathematical / physical complex control system includes a first and second actuators, a plurality of physical control systems, and a first actuator for operating a functional relationship.
A plurality of mathematical control systems including a mathematical control system and a second mathematical control system are provided. The first mathematical control system is the first mathematical control system.
The second mathematical control system has U ^- ₁ and V ^- ₁ which form a set forming an irreducible decomposition expression, and the second mathematical control system has U ^- ₂ and V ^- ₂ which form a pair which forms a second irreducible decomposition expression. Then, the FB control is performed using the deviation e defined from the output output from the control target and the input input to the mathematical input point. The transfer function of the first mathematical control system expressed in C _1, the transfer function of the second mathematical control system expressed by C _2, the output u ₁ of the first actuator
Is expressed as a function and the action function when the converted value is input to the second mathematical control system is represented by F ₂ , and the output value u _{2 of} the second actuator
Expressed the its action function when the input to the second mathematical control system to function converted by F _1, the relationship between the output value u _1, u ₂ and the deviation e, expressed by a matrix function formula of claim Is done. Its function expression, if a is _{F 1, F 2, V ~} 1, V ~ relationship between ₂ properly set variable, the transfer function specific solutions such that zero from e to u ₂ Always exists. In that case, the mathematical / physical control system appears to be inactive, and a single control system is realized.

Such an implementation (C₂= 0) is an example
If shown, ｛U^~ ₁e + (1-V^~ ₁) U₁+ F
₁u₂Is input to the first actuator.
You. Further, the condition is C₁= (1 / V^~ ₁) U^~ ₁,
C₂= (1 / V^~ ₂) U^~ ₂, F₂= -V^~ ₂C₂/ C
₁Is to be set as

A physical control system having a plurality of drive systems according to the present invention is a physical control system for controlling an output of a drive system for driving a physical control object. A combined mathematical / physical control system interposed between a mathematical input point for inputting a target control force to the control system and a physical input point for inputting the control force to the physical control target; The complex mathematical / physical control system includes a plurality of physical control systems including a first actuator, a second actuator, and a third actuator, a first mathematical control system, a second mathematical control system, and a third mathematical control. A first mathematical control system having U ^- ₁ and V ^- ₁ that form a first irreducible decomposition expression, and a second mathematical control system. Are U ^- ₂ , V that form a pair forming the second irreducible decomposition expression.
Has _^1-2, a third mathematical control system has a _{^{U-3, V-3}} as a set to form a third coprime factorization, the output mathematically input point output from the controlled object represents deviation defined by the input and input in e, the transfer function of the first mathematical control system expressed in C _1, the transfer function of the second mathematical control system expressed by C _2, the third mathematical control It represents the transfer function of the system at C _3, first
F its action function when inputting the output u ₁ of the actuator in the second and third mathematical control system to function respectively converted into
₂₁ , F ₃₁ and the output value u _{2 of} the second actuator
The represents the action function when entering the third mathematical control system to function converted by F _32, the relationship between the output value u _1, u ₂ and deviations, functional relation comprising matrix functions of claim there exists a set ^{_{(F 21, F 21, F}} 32, V ~ 1, V ~ 2, V
^{~ ₃₎} is properly set, u _2, solutions such as the transfer function is zero up to u ₃ is always present from r, appearance is realized a single control system. The functions u ₁ , u ₂ , u ₃ and the functions C ₁ , C ₂ , C ₃ , F ₂₁ , F ₃₁ , F ₃₂ , V ^~
₁ , V ^- ₂ , V ^- ₃ , the subscript of the function is cyclic,
And it is magnified recursively, in which case the sequence of the action function is subsequence {F _n1 , F _{(n−1) 1} , F
_{(N-2) 1, ···} , including _{F 21}.}

The physical control system having a plurality of driving systems according to the present invention is also applied to a control system including a heterogeneous physical system, and controls the output of a driving system for driving a physical control object. The physical control system is provided between a mathematical input point for inputting a target control force to the physical control system and a physical input point for inputting the control force to the physical control object. Equipped with a complex mathematical and physical control system
The physical complex control system includes a plurality of heterogeneous actuators and a plurality of mathematical control systems including a first mathematical control system and a second mathematical control system. and a second actuator properties different from the first mathematical control system has a U ^{~ _1,} V ^~ ₁ which forms a first set coprime factorization, the second mathematical control system, second represents has U ^{~ _2,} V ^~ ₂ to form a set of coprime factorization, the action function when inputting an output of the first actuator to the second mathematical control system to function converted by F _2,
The action function when inputting an output of the second actuator to the first mathematical control system to function conversion expressed by F _1, represents a request moments on the physical control object by M, the moment command for a plurality of different actuators expressed respectively in _u 1, _{u 2,} physical exercise equation containing matrix functions described in the claims as a physical phenomenon expressed by the equation is _obtained, the ^{_{F 1, F 2, V ~}} 1, V ~ 2 The relationship between them is appropriately set, and a single control system is realized.

In this control system, the relation setting is F ₂ = −V
^~ ₂ . In this case, the object to be controlled is a traveling body in a fluid, the attitude of which is controlled by a side thruster and a rudder, and in particular, an underwater traveling body.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS In accordance with the drawings, a single control system is provided for a physical control system in which a plurality of drive systems according to the present invention are provided. The controlled object (P) 1 is
It is a moving body such as a hull or an aircraft that receives strong resistance as an external force from water and air. Hereinafter, symbols and symbols in parentheses indicate physical quantities, functions indicating physical quantities, state values, and state functions. Control of a hull navigating underwater is particularly prone to delays.

The control system of the first embodiment: The control system is interposed between the input point 2 and the output point 3 together with the control target 1. The control target value (r) 4 is input to the input point 2. From the target output point 3, the actual physical output value (y) of the control target (P) 1 (eg, steering angle, attitude, direction, speed) 5
Is output. The difference between the output value (y) 5 and the target value (r) 4 is defined as a deviation (e) 6.

The control system includes a first controller (C ₁ )
7 and a second controller (C ₂ ) 8. The deviation (e) 6 is input to a first controller (C ₁ ) 7 and a second controller (C ₂ ) 8. In the control system, a first actuator (1) 9 and a second actuator (2) 11 are incorporated. The output of the first controller (C ₁ ) 7 is represented as a _first pre-saturation-element control manipulated variable (u ₁ ) 29. The control operation amount before the first saturation element (u ₁ ) is input to the first actuator (1) 9. The output of the second controller (C ₂ ) 8 is represented as a _second pre-saturation-element control manipulated variable (u ₂ ). The control operation amount before the second saturation element (u ₂ ) 31 is input to the second actuator (2) 11.

The outputs of the first actuator (1) 9 and the second actuator (2) 11 are added at an addition point 12. The addition value added at the addition point 12 is a control operation amount (u).
13 is input to the control target (P) 1.

The control system further includes a suppression compensator (F ₂ )
14 and a balance compensator (F ₁ ) 15. A manipulated ^variable after the first saturation element u ^の _{11 of} the first actuator (1) 9
6 is input to the suppression compensator (F ₂ ) 14. Operation amount u ^量 ₂ 1 of the second actuator (2) 11 after the second saturation element
7 is input to the balance compensator (F ₁ ) 15. Hereinafter, in the mathematical expressions, the superscripts and the right superscript are used without distinction for the subscripts “〜” and “∧”.

The first controller _(C 1) 7 is first coprime factorization numerator ^U _~ 1 18 and the denominator first coprime factorization V
It formed from ^~ ₁ 19.. The operator, which is the multiplication, is set as V ^- ₁ . First coprime factorization U ^{~ 1} ₁₈ numerator is a regulator of the molecular as described below, the first coprime factorization V ^{~ 1} ₁₉ denominator is such that during normal control is described below In addition, it becomes a control factor as a denominator. The operation amount ^uｕ16 after the first saturation element of the first actuator (1) 9 is represented by a first irreducible decomposition expression (IV ^to denominator side).
₁ ) Entered in 19.

The second controller (C₂) 8 is the molecule side
2 Irreducible decomposition expression U^~ ₂21 and the second irreducible decomposition expression V on the denominator side
^~ ₂22. First irreducible decomposition table on the molecule side
Current U ^~ ₂21 is a control factor as a molecule as described later.
And the first irreducible decomposition expression V on the denominator side^~ ₂22 is described later
Is the controlling factor as the denominator. 2nd acti
Manipulated variable u of the second saturated element of the heater (2) 11^~ ₂17
Is the second irreducible decomposition expression IV on the denominator side^~ ₂22
You.

The first irreducible decomposition expression U on the molecule side^~ ₁18 outputs
Value 23 and the first irreducible decomposition expression IV on the denominator side^~ ₁19 outputs
The value 24 is the balance compensator (F₁) 15 output value 25 is heavy
The first controller (C₁Output from 7)
And the first saturated element manipulated variable u ₁First actu as 29
It is input to the eta (1) 9.

The numerator and the output value 27 of the second coprime factorization ^U _~ 2 21 output values 26 and denominator side second coprime factorization _{^I-V ~} 2 22, suppression compensator _(F 2) 14 of the The output value 28 is superimposed, output from the second controller (C ₂ ) 8, and input to the second actuator (2) 11 as a _second pre-operation element for saturated element (u ₂ ) 31.

Operation of the control system according to the first embodiment: The first actuator (1) 9 is operating, but when the first actuator (1) 9 fails or saturates, the second actuator (2) 11 operates. Assume that priorities have been given. Normally, the first actuator (1) 9
Operating with the controller _(C 1) 7, when the first actuator (1) 9 fails or saturated, the second actuator (2) 11 is operated with the second controller _(C 2) 8. When both controllers 7 and 8 operate independently, it is assumed that the controllers 7 and 8 are adjusted so as to stably control the control target (P) 1. If the transfer function of the first controller _(C 1) 7 was _{C 1,} the first controller _(C 1) 7 coprime factorization ^U _~ ^{1, V} _{~ 1} of, among those satisfying the following formula (1) Given without unstable pole-zero cancellation.

[0024]

(Equation 7) Similarly, if the transfer function of the second controller (C ₂ ) 8 is C ₂ , the irreducible decomposition expression U of the controller
^{~ _2,} V ^~ ₂ is given that there is no unstable pole-zero cancellation among those satisfying the following formula (2).

(Equation 8)

The first and second controllers 7, 8 are connected as described above.
, The actuators 9 and 11 have
Integrators of controllers 9 and 11 are wine doors with saturation elements
Can be prevented (see later references
[1], [2]). Suppression compensator (F ₂) 14 is the first
Controller (C₁) 7 while the second controller (C
₂) 8 is a compensator for preventing operation, and
Set by the following equation (3)
I do.

(Equation 9)

When the first controller (C ₁ ) 7 and the second controller (C ₂ ) 8 have an integrator, the first controller (C ₁ ) 7 is selected as the balance compensator (F ₁ ) 15. sometimes it is for the zero output of the second controller ^{_{(C 2) 8, V ~}} 2 U ~ 1 + F 1 U ~ 2 is poles,
Both zeros are chosen to be stable. While the first controller (C ₁ ) 7 is operating, the suppression compensator (F ₂ ) 14
Works and outputs 2 of U ^to ₂ of the second controller (C ₂ ) 8
Outputs a signal that cancels a 6, a second saturation element after the operation amount u ^∧ ₂ 17 to zero.

[0027] When the first actuator (1) 9 is not issued a predetermined output suppression compensator _(F 2) output signal 28 of 14 ^U _{~ 2} output signal 26 of the second controller _(C 2) 8 As a result, the second actuator (2) 11 starts operating. When the first actuator (1) 9 returns from saturation, or when the failure is repaired and the predetermined output is output again, the suppression compensator (F ₂ ) 14
The output signal 28 and the second controller _(C 2) 8 of the ^U _{~ 2}
The output signal 26 is balanced and the second actuator (2) 1
1 stops.

However, the first controller (C ₁ ) 7 and the second controller (C ₁ ) 7
If the controller (C ₂ ) 8 has an integrator, the output distribution of these two actuators is not determined, so the balance compensator (F ₁ ) 15 causes the first actuator (1) 9 to operate. In this case, the output of the second actuator (2) 11 is set to zero. Hereinafter, the operation will be described in more detail using mathematical expressions.

The following equation is established before and after the first controller (C ₁ ) 7.

(Equation 10) For now that is not _saturated, because it is _{u 1} = _u ^∧ 1,

[Equation 11] Here, U ~ 1, V ~ 1 irreducible decomposition of C 1, U ~ 2, V
To 2 is irreducible decomposition of C 2. This can be transformed as follows:

[0030]

(Equation 12) If, as mentioned in the previous setting,

(Equation 13) If,

[Equation 14] Equation (7) indicates that the transfer function from e to u ₂ is apparently zero. Although both controllers are operating and both actuators are operating, the second actuator (2) 11 is apparently in a non-operating state. The transfer function from e to u ₂ is has become C _1, it is equivalent to the first actuator (1) 9 is operated alone. And others, for F ₂ becomes stable, C ₁ must be minimum phase system. In the controller,
As expressed by the following equation (8),

(Equation 15) Since the pole-zero cancellation in ^{_{U ~ 1 V ~ 2 + F}} 1 U ~ 2, although this mode must be stable, since it was assumed that choose F ₁ as such becomes stable, have to be entered in the saturation region u ₂ converges to zero for an arbitrary initial value.

When u ₁ enters the saturation region,

(Equation 16)

From these, when e is deleted,

[Equation 17] Equation (10) indicates that the control input of u ₂ is determined in a manner to compensate for the lack of the control input. That is, it can be seen that the value is zero when the actuator is not in the saturation region, and the operation of the other actuator starts when the actuator is in the saturation region.

Next, when the operation ends to a control device _{C 1} has failed and the u ^∧ ₁ is 0,

(Equation 18) Which is equivalent when C2 is used alone.

Example of numerical value of Embodiment 1: Control target P,
The control functions C ₁ and C ₂ of the controller are set as follows.

[Equation 19] The magnitude of the saturation is l. The irreducible decomposition of each controller is as follows.

(Equation 20) F ₁ and F ₂ are set as follows.

(Equation 21) The response to a step of size 1.8 is shown in FIG. However, it is assumed that the first actuator (1) 9 has failed during the time period of 30 to 50 seconds. FIG. 3 shows, in order from the top,
The target value r and the output value y, the first actuator (1) a first saturation element after the operation amount u ^∧ ₁ 16 9, the second actuator (2) second saturation element after the operation amount u ^∧ ₂ 17 11 respectively Is shown. As can be seen from the figure, the operation amount u ^∧ after the first saturation element of the first actuator (1) 9 at the rise.
_{During the} shortage of 116, the first actuator (1) 9
In the time period when the device fails, the second actuator (2) 11
The second saturation element after the operation amount u ^∧ ₂ 17 occurs, the control amount (y) is held in the vicinity of the target value (r) of the. On the other hand, FIG. 4 shows the response of the conventional method of switching the controller after detecting the failure (as shown in FIG. 4).
Assume it took seconds. ) It can be seen that the control amount (y) drops significantly when switching.

FIG. 4 shows a physical control system according to the second embodiment of the present invention in which a plurality of drive systems are present.
Is shown. In this embodiment, three actuators can be used. Normally, the first actuator 9 'operates, and when the first actuator 9' fails or saturates, the second actuator 11 'operates.
It is assumed that the third actuator 41 operates when both the actuators 9 ′ and 11 ′ fail or become saturated.

The control system is interposed between the input point 2 and the output point 3 together with the control target 1. The control target value (r) 4 is input to the input point 2. From the target output point 3, the actual physical output value (y) of the control target (P) 1
(Example: steering angle, posture, direction, speed) 5 is output. The difference between the output value (y) 5 and the target value (r) 4 is defined as a deviation (e) 6.

The control system includes a first controller (C ₁ )
7 ′, a second controller (C ₂ ) 8 ′, and a third controller (C ₃ ) 42. The deviation (e) 6 is defined by the first controller (C ₁ ) 7 ′ and the second controller (C ₂ )
8 ′ and the third controller (C ₃ ) 42.
The control system includes a first actuator (1) 9 ', a second actuator (2) 11', and a third actuator (3) 4
1 is incorporated. First controller (C ₁ )
The output of 7 ′ is represented as a _first pre-saturation control manipulated variable (u ₁ ). The first pre-saturation control operation amount (u ₁ ) is input to the first actuator (1) 9 ′. The output of the second controller (C ₂ ) 8 ′ is represented as a _second pre-saturation control manipulated variable (u ₂ ). The second pre-saturation control operation amount (u ₂ ) is input to the second actuator (2) 11 ′. The output of the third controller (C ₃ ) 42 is represented as a _third pre-saturation control manipulated variable (u ₃ ). The third pre-saturation control operation amount (u ₃ ) is the third actuator (3) 4
1 is input.

The first actuator (1) 9 ', the second actuator (2) 11' and the third actuator (3) 4
All outputs of 1 are added at an addition point 12 '. Addition point 1
The added value added in 2 ′ is input to the control target (P) 1 as the control operation amount (u) 13.

The control system further includes a first suppression compensator (F
₂₁ ) 14-21, second suppression compensator (F ₃₁ ) 14-3
1, third suppression compensator and _(F 32) 14-32, a first balanced compensator _(F 12) 15-12, a second balanced compensator _(F 13) 15-13, the third balanced compensator _{(F 23} ) 15
-23. First actuator (1) 9 '
The first saturation element after the operation amount u ^∧ 1 of the first suppression compensator (F
₂₁ ) 14-21, second suppression compensator (F ₃₁ ) 14-3
1 is input. The second saturation element after the operation amount u ^∧ ₂ of the second actuator (2) 11 'is input to a third suppression compensator _(F 32) 14-32. The second saturation element after the operation amount u ^∧ ₂ of the second actuator (2) 11 ', first
It is input to the balanced compensator _(F 12) 15-12. Operation amount u ^量 _{3 of} the third actuator (3) 41 after the third saturation element
Is input to the second balanced compensator _(F 13) 15-13 and the third balanced compensator _(F 23) 15-23.

The first controller (C₁) 7 'is the molecular side
First irreducible decomposition expression U^~ ₁18 'and the first irreducible decomposition table on the denominator side
Current V^~ ₁19 '. Its multiplication
The operator is 1-V^~ ₁Is set as Molecule side
1 Irreducible decomposition expression U^~ ₁18 'is a molecule as described below
, The first irreducible decomposition expression V on the denominator side ^~
₁19 'is the same as the denominator during normal control, as described later.
Control factor. First actuator (1) 9 '
Manipulated variable u after the first saturated element of^∧ ₁Is the first irreducible decomposition on the denominator side
Expression IV^~ ₁19 '.

The second controller _(C 2) 8 ', the second coprime factorization numerator ^U _~ 2 21' are formed from a second coprime factorization denominator ^V _~ 2 22 '. First coprime factorization numerator U ^{~ 2} ₂₁ 'is a regulator of the molecular as described below, the first coprime factorization denominator V ^~ ₂ 2
2 ′ is a control factor as a denominator as described later. The second saturation element after the operation amount u ^∧ ₂ of the second actuator (2) 11 ', second coprime factorization denominator _{^I-V ~} 2 2
Input to 2 '.

The first coprime factorization numerator ^U _~ 1 18 and 'output value 23' and 'output value 24 of the' first coprime factorization ^V _~ 1 19 denominator, the second balanced compensator _{(F 13} ) 15-13 is the output value 44 of the first balance compensator (F ₁₂ ) 15-12.
Are superimposed, output from the first controller (C ₁ ) 7 ′, and input to the first actuator (1) 9 ′ as a first saturated element pre-operation amount (u ₁ ).

The numerator and the second coprime factorization ^U _~ output value 27 of the second output value 26 of the 21 'and the denominator second coprime factorization ^V _~ 2 22'', the third balanced compensator _{(F 23} ) Is superimposed on the output value 46 of 15-23, output from the second controller (C ₂ ) 8 ′, and input to the second actuator (2) 11 ′ as the second pre-saturation element manipulated variable (u ₂ ). You.

The third controller (C₃) 42 is the molecule side
Third irreducible decomposition expression U^~ ₃47 and the second irreducible decomposition expression on the denominator side
V^~ ₃48. Third irreducible decomposition on the molecular side
Expression U^~ ₃47 is a control as a molecule as described later
Factor, the third irreducible decomposition expression V on the denominator side^~ ₃48 is later
As described above, it is a control factor as a denominator. 3rd action
Manipulated variable u after third saturated element of tutor (3) 41
^∧ ₃Is a second balance compensator (F ₁₃) 15-13 and 3rd flat
Balance compensator (F₂₃) 15-23.

The first irreducible decomposition expression U on the molecule side^~ ₃47 outputs
Value 49 and the first irreducible decomposition expression V on the denominator side ^~ ₃Output value of 48 5
1 is the second suppression compensator (F₃₁) Output value of 14-31
52 and a third suppression compensator (F₃₂) 14-32 output value and
Are superimposed, and the third controller (C₃Out of 42)
Is manipulated, and the third saturation element pre-operation amount u₃As the third act
The data is input to the router (3) 41.

Operation of the control system according to the second embodiment: The first actuator (1) 9 'operates, but the second actuator 11' operates when the first actuator (1) 9 'fails or saturates. Assume that priorities have been given. Further, it is assumed that the second actuator 11 'is operating, but a priority is given to the operation of the third controller (C ₃ ) 42 when the second actuator 11' fails or saturates. Typically, the first actuator (1) 9 'is the first controller (C _{1) 7'} works in conjunction with, 'when the failed or saturated, the second actuator 11' first actuator (1) 9 second controller ( C ₂ ) Works with 8 ′.

Further, usually, the second actuator 11 '
Operates with the second controller (C ₂ ) 8 ′,
When the actuator 11 ′ fails or saturates, the third actuator 41 operates together with the third controller (C ₃ ) 42, and thus the nested structure is set. When each of the controllers 7 ', 8', 42 operates alone, it is assumed that the controller 7 ', 8', 42 is adjusted so as to stably control the control target (P) 1. The irreducible expression of these controllers and the anti-windup controller are the same as those of the first embodiment.

The first suppression compensator (F ₂₁ ) 14-21 is a compensator for preventing the second actuator 11 'from operating while the first actuator (1) 9' is operating. ).

(Equation 22) The second suppression compensator (F ₃₁ ) 14-31 is a compensator for preventing the third actuator 41 from operating while the first actuator (1) 9 ′ is operating, and is expressed by the following equation (15). Set to.

(Equation 23)

The third suppression compensator (F ₃₂ ) 14-32 is a compensator for preventing the third actuator 41 from operating during the operation of the second actuator 11 ', as shown in the following equation (16). Set.

(Equation 24) First parallel compensator _(F 12) 15-12, a second balanced compensator _(F 13) 15-13, the third balanced compensator _(F 23) 15
-23, the controller 7 ', 8', if 42 has an integrator is for the zero output of the other actuator when the actuator to be prioritized is selected, V ^~ ₂ U ^{~ _{1 + F 12 U ~ 2,}} V ~ 3 U ~
^{_{1 + F 13 U ~ 3,}} V ~ 3 U ~ 2 + F 23 U ~ 3 are,
Both poles and zeros are chosen to be stable.

[0050] During operation of the first actuator (1) 9 ', the first suppression compensator _(F 21) 14-21, a second suppression compensator _(F 31) 14-31 acts, the second controller _{(C 2} ) 8 and the third controller _(C 3 ^'U _~ 2 21 a') 42 outputs a signal that cancels the output of the ^U _~ 3 47, the second operation amount u ^∧ _2, the third manipulated variable u ^∧ ₃ Set to 0. Similarly, during the operation of the second controller (C ₂ ) 8 ′, the third suppression compensator (F ₃₂ ) 14-32 operates, and the third suppression compensator (F ₃₂ ) 14-32 operates.
Outputs a signal that cancels the output of the ^U _~ 3 47 of the controller _(C 3) 42, the operation amount _{u 3} to 0.

If the first actuator (1) 9 'does not output a predetermined output, the first suppression compensator (F ₂₁ ) 1
4-21 output signal 53 and second controller (C ₂ )
8 'u ^∧ is the output signal 26 of ₂ without balance of (mechanism output of the third controller _(C 3) 42 is kept to 0 are shown later.), The second controller _(C 2) 8' is actuated To start. When returning from the first actuator (1) 9 'is saturated, if the fault has become so out been repaired ^again a predetermined output, the first suppression compensator (F ₂₁₎ 14-2
1 and the second controller (C ₂ ) 8′U ^to
₂ output signals 26 'are balanced and the second controller (C
₂ ) 8 'stops (apparent).

Similarly, when neither the first actuator (1) 9 'nor the second controller (C ₂ ) 8' outputs a predetermined output, the second suppression compensator (F ₃₁ ) 14-31.
The second suppression compensator _(F 31) 14-31, the third suppression compensator _(F 32) 14-32 sums and third controller output signal 52, 54 _(C 3) 42 of ^U _~ 3 49 The output signal 49 does not balance, and the third controller (C ₃ ) 42 starts operating.

When the second controller (C ₂ ) 8 ′ returns from saturation, and when the fault is repaired and the predetermined output is output again, the second suppression compensator (F ₃₁ ) 14-3.
1, the output signal 5 of the third suppression compensator _(F 32) 14-32
2 to 54 and U ^to _{3 of} the third controller (C ₃ ) 42
Of the third controller (C ₃ )
42 stops (apparently). However, the controller 7 ', 8', when there is a integrator 42, three actuators 9 ', 11', since not fixed with respect to the output distribution of 41, the first balanced compensator _(F 12) 15-12, second balanced compensator _(F 13) 15-13, the third balanced compensator from _(F 23) 15-23, the first actuator (1)
The output of the second actuator 11 'and the third actuator 41 is set to 0 when 9' is operating, and the third actuator 41 is set to 0 when the second actuator 11 'is operating. I do.

Hereinafter, such an operation will be described in more detail by mathematical expressions. It is divided into the following seven cases. (1) When the l-th actuator is normal and not saturated (2) When the first actuator is saturated and the second actuator is normal and not saturated (3) The l-th actuator When the output of the actuator is 0 and the second actuator is normal and not saturated (4) The 1st actuator is saturated or the output is 0 and the second actuator is normal and (5) The l-th actuator is saturated, the output of the second actuator is 0, and (6) The output of both the first and second actuators is 0. Are described respectively.

(1) When the l-th actuator is normal and not saturated Each control input is as follows.

(Equation 25) Than this,

[0056]

(Equation 26) Expression (18) can be modified as follows by using the above-mentioned relational expressions of F ₂₁ , F ₃₁ , and F ₃₂ .

[Equation 27] However, there are uncontrollable modes in the system, which must be ^{_{stabilized, (V ~ 3 U ~ 2}} + F 23 U ~
₃ ) must be chosen so that both poles and zeros are stable.

(2) The l-th actuator is saturated,
When the second actuator is normal and not saturated When u1 enters the saturation region,

[Equation 28] Thus, it can be seen that the control input of u ₂ is determined in a manner to compensate for the amount that the control input is insufficient. That is, it is understood that the value is 0 when the pixel is not in the saturation region, and that the operation starts when the pixel is in the saturation region.

At this time, u ₃ is as follows.

(Equation 29) F32 was given as follows,

[Equation 30] The transfer function from e to u3 is apparently 0.

(3) The output of the first actuator is 0
In the case where the second actuator is normal and not saturated, the operating end relating to the controller C ₁ fails and u ₁ becomes 0,

(Equation 31) Thus, equal when using C ₂ alone.

(4) When the first actuator is saturated or the output is 0, and the second actuator is normal and saturated When u ₁ and u ₂ enter the saturation region,

(Equation 32) In this way, u2 is compensated for by the lack of control input of u2.
_It can be seen that the control input of No. ₃ is determined.

(5) The l-th actuator is saturated,
When the output of the second actuator is 0

[Equation 33] Thus, it can be seen that the control input of u ₃ so as to compensate for the amount that the control input of u ₁ is insufficient is determined.

(6) When the outputs of the l-th and second actuators are both 0: Also, the operating terminals of the controllers C ₁ and C ₂ break down, and ^uｕ
_1, when the u ^∧ ₂ becomes 0,

(Equation 34)Thus, C₃Is equivalent to using What
Note that the priority controller in cases (1) and (3) operates normally.
During operation, the output of the non-priority controller becomes 0.
The transitional movement is different when^~ ₂U^~ ₁
+ F₁₂U^~ ₂, V ^~ ₃U^~ ₂+ F₂₃U^~ ₃Is pole, zero
If the points are chosen to be stable, the state of convergence will be the same.
You.

FIG. 5 shows a physical control system according to the third embodiment of the present invention in which a plurality of drive systems exist.
Shows a control system when two actuators can be used to control the control target 1. Normally,
It is assumed that the actuator 9 operates and the actuator 11 operates when the actuator 9 fails or becomes saturated. When both the controllers 7 and 8 operate independently, it is assumed that the controller 7 is adjusted to stably control the control target (P) 1.

The difference from the first embodiment shown in FIG. 1 is that both controllers 7 and 8 are configured as two-input and one-output two-degree-of-freedom controllers to which a target value r and a control amount y are inputted. It is a point. Controller 7 and controller 8
It is assumed that the characteristics are the same. When the transfer function is C,
Coprime factorization U ^~ ₁ V ^~ of both controllers 7 and 8 is that there is no unstable pole-zero cancellation of those that satisfy the following equation.

[0065]

(Equation 35) The reason why the controllers 7 and 8 are configured as shown in FIG. 5 is to prevent the integrators of the controllers from winding up due to the saturation elements of the actuators 9 and 11. The suppression compensator 14 is a compensator for preventing the actuator 11 from operating while the actuator 9 is operating, and is set as follows.

[Equation 36]In the balance compensator 15, the controllers 7, 8 have integrators.
Control when actuator 9 is selected.
This is for setting the output of the roller 8 to 0. ^~+ F
₁Are selected so that both poles and zeros are stable.

[0066] Operation of the control system of the third embodiment: suppression compensator 14 acting during operation of the actuator 9 outputs a signal that cancels the U ^~ _{2 1} of the output of the controller 8, the operation amount u ^∧ ₂ Set to 0. When the actuator 9 does not output a predetermined output, the output signal 28 of the suppression compensator 14
And the output signal 27 of the ^{V ~} of the controller 8 is not balanced,
The actuator 11 starts operating.

When the actuator 9 returns from saturation,
When the fault is repaired and the specified output is output again
In this case, the output signal 28 of the suppression compensator 14 and the controller 8
V ^~22 output signals 27 are balanced
8 stops. However, the controllers 7 and 8 have integrators.
In this case, the output distribution of the two actuators 9 and 11
From the balance compensator 15
When the actuator 9 is operating, the output of the actuator 11 is
Set to 0.

Hereinafter, such an operation will be described in detail by mathematical expressions. If neither of them is in the saturation region,

(37) ^Here, U ~, ^{V ~} is an irreducible decomposition of C. this is,
It can be converted as follows:

[0069]

(38)

[Equation 39] given that,

(Equation 40) And the transfer function from e to u ₂ is apparently 0. Further, the transfer function from e to _{C 2} becomes C. However, since the pole-zero cancellation in V ~ ⁺ F _1, it is selected F ₁ so that the mode becomes stable. When u ₁ enters the saturation region,

[0070]

[Equation 41]

(Equation 42) Thus, when r and y are deleted,

[Equation 43] Thus, it can be seen that the control input of u ^∧ ₂ is determined in a manner to compensate for the amount that the control input is insufficient. That is, it is understood that the value is 0 when the pixel is not in the saturation region, and that the operation starts when the pixel is in the saturation region. Further, when the operation ends to a control unit 7 becomes faulty u ^∧ ₁ is 0,

[Equation 44] In this way, this is equivalent to the case where the controller 8 is used alone.

FIG. 6 shows a physical control system according to a fourth embodiment of the present invention in which a plurality of drive systems are present.
And a control system for y / ψ of the underwater vehicle. y
The direction (horizontal direction) is controlled by the front and rear side thrusters, and the ψ direction (bow direction) is controlled by the vertical rudder. If the vertical rudder breaks down, the control in (1) shall be performed by the side thruster.

The control amount (y, ψ) of the body (hull) is determined by the force Fy and the moment Mz applied to the body. The force Fy and the moment Mz applied to the airframe are obtained by combining the force and moment generated by the side thruster with the force and moment generated by the vertical rudder. The force generated by the side thruster is given by T _Fy + T _Ay , and the moment is T _{F y
· X F + T Ay · x} A (x A, x F is the mounting position) is given by. Force steering occurs, moment, _{respectively,} is given by _{K R1 δ R, K R2 δ} r. Where T
_Fy , T _Ay , and δ _r have upper and lower limits due to a saturation factor.

The conventional control system, as shown in FIG.
The control amounts y and ψ and the speeds Vy and ω'z 'are calculated as follows.
It has a controller C that performs feedback. C is the block diagonal
Then r _y-Y, y, V_yT^~ _FAnd r_ψ, Ψ, ω
_zFrom moment M_zTo determine.

[Equation 45]

Each of C ₁ and C ₂ has one integral element. C ₁ , C ₂ are irreducibly decomposed as follows,

[Equation 46]

The values of U ^- ₁ , V ^- ₁ , U ^- ₂ , and V ^- ₂ are determined. Side thrusters T _Fy suppression compensator F ₂ is a vertical rudder [delta] _r during _operation, with compensator for T _Ay is not working,
Set as follows.

[Equation 47]

[0076] Equilibrium compensator F ₁ is for the moment control by the side thruster to 0 when using vertical rudders, V ~ ² ₊ F ₁ is very, selected such that the both zero point stability. K _T ^-1 in the controller is a matrix for calculating how to allocate the thrust of each side thruster to generate a necessary moment, and
_R2 ^-1 is the gain for calculating how much should take the steering angle in order to generate the required moment.

During the operation of the vertical rudder, the suppression compensator (F ₂ ) operates to cancel the momentary command of the side thruster. If the vertical rudder not emitting predetermined moment the output signal suppression compensator 10 requests moment M ^~ is not balanced, it starts the moment generating operation by the side thruster. When the vertical rudder returns from saturation or when the fault is repaired and the predetermined output is output again, the suppression compensator (F ₂ ) and the signals of M ^to _z balance, and the moment by the side thruster returns to zero. . However, if the controller C has an integral characteristic, the output distribution of the two actuators is not determined, so the balance compensator 8 sets the output of the side thruster to 0 when the vertical rudder is operating.

Hereinafter, a more detailed description will be given using mathematical expressions.

[Equation 48] Becomes Here, U ~ 1, V ~ 1 irreducible decomposition of C 1, U
~ 2, V ~ 2 is an irreducible decomposition of C 2.

[0079] _{T y} is a control on the lateral force, because there is no particular need to consider later think the only ^M _{~ z.} Moment commands u ₁ and u ₂ for the side thrusters and the vertical rudder are given as follows.

[Equation 49] However,

[Equation 50] And When T _Fy and T _Ay are not in the saturation region, u ₁ and u ₂ are:

(Equation 51) Is satisfied, the following is obtained.

[0080]

(Equation 52) Than this

(Equation 53) given that,

(Equation 54) And the transfer function from Mz to u ₁ is apparently 0. However, this mode it is necessary to select the F ₁ so as to stabilize because it pole-zero cancellation in V ~ ² ₊ F _1.

When u ₂ enters the saturation region,

[Equation 55] It can be seen that the control input of u ₂ is determined in a manner to compensate for the lack of the control input. That is, it is understood that the value is 0 when the pixel is not in the saturation region, and that the operation starts when the pixel is in the saturation region.

Further, the operation end relating to the vertical rudder is out of order and u ₂
If becomes 0,

[Equation 56] It becomes equal to the case of using the C ₁ alone. Numerical Example of Embodiment: The controller in FIG. 6 can be expressed, for example, as follows.

[Equation 57]

K _iy , K _py , K _vy , K _iψ ,
K _pψ and K _vψ are control gains. Anti-wi
ndup controller, and coprime factorization ^{V ~-1 U ~} and the C, I
Although it make a -V ^~ minor loop, where, ^T _~ y when not saturated ^region, _T y from ^M _{~ z,} since also a C a transfer function of a _{M z,}

[0084]

[Equation 58] And construct an Anti-windup control system.
γ is a positive number (design parameter). Where T _y , M
_{Since z} cannot be actually measured, T _Fy and T _Ay are multiplied by K _F and fed back. U ^- ₁ and V in FIG.
^To _1, choose the ^V _{~ 2} for example as follows.

[Equation 59] F ₁ and F ₂ are selected as follows.

[Equation 60]

Γ was set to 5. It is assumed that the vertical rudder becomes 0 and becomes inoperable at the time 150 sec in the simulation shown earlier. At this time, in the control system of (2), the deviation of the yaw angle remains, but in the control system of FIG. 7, the deviation can be set to zero. The response is shown in FIGS.

References: [1] S. Miyamoto and G. Vinnicombe: Robust Contro
l of Plants with Saturation Nonlinearrities based
on Coprime Factor Representations, Proc. of IEEE CD
C, 2338/2040 (1996) [2] S. Miyamoto: Robust Control Design-A Coprim
e Factorization and LMI Approach, PhD thesis, Univ
ersity of Cambridge (1997)

[0087]

According to the present invention, the physical control system including a plurality of drive systems detects a failure from the state of the actuator,
Program switching logic in case of failure,
There is no need to provide a switch, and smooth control transfer is realized by a mathematically / physical hybrid control system as if it were a single unit, and high backup control performance is obtained.

[Brief description of the drawings]

FIG. 1 is a conceptual diagram of a functional relationship showing an embodiment of a physical control system having a plurality of drive systems according to the present invention.

FIG. 2 is a graph showing a realized step response.

FIG. 3 is a graph showing a step response of a known device.

FIG. 4 is a functional relationship conceptual diagram showing another embodiment of the physical control system in which a plurality of drive systems are present according to the present invention.

FIG. 5 is a conceptual diagram of a functional relationship showing still another embodiment of the physical control system having a plurality of drive systems according to the present invention.

FIG. 6 is a conceptual diagram of a functional relationship showing still another embodiment of the physical control system including a plurality of drive systems according to the present invention.

FIG. 7 is a conceptual diagram of a functional relationship showing a known device.

FIG. 8 is a graph showing a simulation result.

FIG. 9 is a graph showing another simulation result.

FIG. 10 is a graph showing still another simulation result.

FIG. 11 is a graph showing still another simulation result.

FIG. 12 is a graph showing still another simulation result.

FIG. 13 is a conceptual diagram of a functional relationship showing a known device.

[Explanation of symbols]

2 Mathematical input point 7 First mathematical control system 8 Second mathematical control system 9 First actuator 11 Second actuator 12 Physical input points U ₁ , V ₁ First irreducible decomposition expression U ₂ , V ₂ ... second irreducible decomposition expression C ₁ , C ₂ ... transfer function F ₁ , F ₂ ... action function e ... deviation u ₁ ... output of the first actuator (subscript may be attached) u ₂ ... Second actuator (subscript ~ may be attached)

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification code FI Theme coat ゛ (Reference) G05B 9/02 G05B 9/02 D 11/36 507 11/36 507H G05D 3/00 G05D 3/00 Q 3 / 12 305 3/12 305Z F-term (reference) 5H004 GA11 GA29 GB14 HA07 HB07 KA01 KA52 KA66 LA19 LB03 LB09 5H209 AA09 BB08 CC01 DD05 GG04 GG05 HH13 JJ07 SS01 SS05 SS07 5H303 AA11 BB01 BB06 BB03 CC10 DD03 KK03 BB03 CC10 DD01

Claims (9)

[Claims] An output of a drive system for driving a physical control object is provided.
A physical control system for controlling, wherein the physical control system provides a target control force to the physical control system.
A mathematical input point for input and control over the physical control object.
Interposed between a physical input point for inputting power
A complex mathematical / physical control system, wherein the complex mathematical / physical control system comprises a first actuator and a second actuator
・ Physical control system, plural / number consisting of first mathematical control system and second mathematical control system
And the first mathematical control system forms a first irreducible decomposition expression.
U to be paired^~ ₁, V^~ ₁Wherein the second mathematical control system forms a second irreducible decomposition expression
U to be paired^~ ₂, V^~ ₂To the output output from the controlled object and the mathematical input point
The deviation specified from the input to be input is represented by e,
Let the transfer function of the first mathematical control system be C₁And the second number
The transfer function of the chemical control system is C₂And the first actuated
Eta output u ₁To the second mathematical control system
The action function when input to₂And the second
Output value u of the actuator₂To the second mathematical
The action function when input to the dynamic control system is F₁And out
Force value u₁, U₂The relationship between the deviation and the deviation is expressed by the following matrix function formula:And the variable, F₁, F₂, V^~ ₁, V^~ ₂Suitable
It is set to be positive and u₂The second transfer function up to
There is always a solution such that is zero.  (Equation 2)Physical control system with multiple drive systems represented by 2. The method of claim _{^{1, {U ~ 1 e +}} (1-V 1) u 1 + F 1 u 2} physical control multiple drive system, characterized in that input to the first actuator is inherent system. 3. The method according to claim 2, further comprising: C ₁ = (1 / V ^- ₁ ) U ₁ , C ₂ = (1/1)
_{^{V ~ 2) U 2, F}} 2 = -V physical control system in which a plurality drive system inherent, characterized in that it is configured as a _{2 C 2} / C _1. 4. An output of a drive system for driving a physical control object.
A physical control system for controlling, wherein the physical control system provides a target control force to the physical control system.
A mathematical input point for input and control over the physical control object.
Interposed between a physical input point for inputting power
A complex mathematical / physical control system, wherein the complex mathematical / physical control system includes a first actuator, a second actuator, and a third actuator.
Multi-physical control system consisting of an estimator, first mathematical control system, second mathematical control system, and third mathematical control
A plurality of mathematical control systems, wherein the first mathematical control system forms a first irreducible decomposition expression
U to be paired^~ ₁, V^~ ₁Wherein the second mathematical control system forms a second irreducible decomposition expression
U to be paired^~ ₂, V^~ ₂And the third mathematical control system forms a third irreducible decomposition expression
U to be paired^~ ₃, V^~ ₃To the output output from the controlled object and the mathematical input point
The deviation specified from the input to be input is represented by e,
Let the transfer function of the first mathematical control system be C₁And the second number
The transfer function of the chemical control system is C₂And the third mathematical system
Let the transfer function of your system be C₃The first actuator
Output u₁Into the second and third mathematical control systems
The action function when inputting is F₂₁, F₃₁
And the output value u of the second actuator₂Function
In other words, the function of inputting the data to the third mathematical control system
Number F₃₂And the output value u₁, U₂And deviation
Is the following matrix function:And the variable F₂₁, F₃₁, F₃₂, V^~ ₁,
V^~ ₂, V^~ ₃Is set properly and r to u₂, U₃Ma
There always exists a solution such that the transfer function at
The formula is as follows:Physical control system with multiple drive systems represented by 5. The method according to claim 4, wherein the functions u ₁ , u ₂ , u ₃ and the functions C ₁ , C ₂ , C 3
_{3, F 21, F 31,} F 32, V ~ 1, V ~ 2, V ~ 3
Is that the subscript of the function is cyclically and mathematically recursively increased, and the sequence of the action function is
_n1 , F _{(n-1 ) 1} , _{Fn (n-2) 1} ,..., F
_21. A physical control system in which a number drive system is included, wherein 6. A physical control system for controlling an output of a drive system for driving a physical control object, wherein the physical control system is a mathematical system for inputting a target control force to the physical control system. A complex mathematical / physical control system interposed between a physical input point and a physical input point for inputting a control force to the physical control target; And a plurality of mathematical control systems including a first mathematical control system and a second mathematical control system, wherein the heterogeneous actuator comprises a first actuator and a second mathematical control system.
An actuator, wherein the first mathematical control system has V ^- ₁ forming a first irreducible decomposition expression set, and the second mathematical control system has a second irreducible decomposition expression set. V ^- ₂ to be formed, and the function of the output of the first actuator is converted into a function of the second actuator.
Represents the action function when inputting mathematical control system in F _2, it represents the action function when converting function output of the second actuator is inputted to said first mathematical control system in F _1, The required moment for the physical control object is M
When the moment commands for the plurality of different types of actuators are respectively represented by u ₁ and u ₂ , the physical event is represented by the following equation: Is obtained, and the above equation is obtained by the following equation: The variables _{F 1, F 2, V ~} 1, physical control system in which a plurality drive system relationship is set between the V ^~ ₂ is inherent to become. 7. The physical control system according to claim 6, wherein the relation setting is F ₂ = −V ₂ . 8. The physical control system according to claim 7, wherein the different types of actuators are a side thruster and a rudder. 9. The physical control system according to claim 8, wherein the physical control target is a vehicle in a fluid.