KR101434310B1 - Stabilization enhancement method of drive unit mounted on moving equipment and system, that moving equipment - Google Patents

Abstract

The present invention relates to a method to enhance stabilization performance of a driving device mounted on moving equipment, a system for the same, and the moving equipment thereof and, more specifically, to a method to enhance stabilization performance considering the optimum control performance of an LQ controller and the robustness of a sliding mode controller, a system for the same, and moving equipment thereof. According to the present invention, the method to enhance stabilization performance of a driving device mounted on moving equipment includes a step of expressing a driving device model in a linear standard secondary system; a step of designing an LQ controller in an optimum feedback state capable of minimizing the objective function using the LQ control law which weighs system variables; a step of guiding a closed-loop dynamic system by applying the LQ controller into the driving device model; a step of defining a conversion function for a sliding model controller (SMC) using the values of state variables and differentiating the conversion function; a step of defining the arrival law of variable structure control for a robust controller as the differential equation which expresses the dynamics of the conversion function; and a step of designing an RLQSMC controller by integrating non-linear sliding conversion planes based on the LQ controller and the arrival law.

Description

Technical Field [0001] The present invention relates to a stabilization enhancement method and system for a driving apparatus mounted on a mobile equipment,

More particularly, the present invention relates to a stabilization performance enhancement technique and system considering an optimal control performance of an LQ controller and a robustness of a sliding mode controller, and more particularly, to a stabilization performance enhancement technique and system for a driving apparatus mounted on a mobile equipment, And relates to the mobile equipment.

BACKGROUND OF THE INVENTION [0002] Recently, with the rapid development of industry, various systems using driving force are required to have higher driving performance.

There are nonlinear factors such as friction, backlash, nonlinear mechanism, and parameter fluctuation that affect the driving performance of such a driving device, and these factors greatly affect the driving stability and driving performance.

In order to solve such a problem, many control algorithms have been developed to satisfy both driving performance and stability.

In order to track and direct a fast-moving target on the drive, the maximum response performance that can be exerted on the drive must be ensured.

As a general control algorithm used to improve the maximum response performance, a LQ (Linear Quadratic) controller is a typical controller.

This LQ controller shows optimized control characteristics by weighting system variables.

However, there is a disadvantage that the performance can not be maintained by various nonlinear factors such as weight fluctuation, disturbance, and parameter variation.

On the other hand, an algorithm for improving the response performance (bandwidth) of the driving apparatus in the transient state region and an algorithm for improving the disturbance of the driving apparatus and stability for various nonlinear elements in the steady state region in the precise position control of the driving apparatus In addition to the mixed control algorithms, many modified algorithms have been developed.

In order to overcome the non-linearity due to external noise in precision position control, various studies have been conducted to improve the accuracy of the system. Sliding-mode control algorithms have been proposed as one of such studies.

This sliding mode control algorithm has the greatest advantage of robustness against disturbance and nonlinear elements, but it has limitations in exerting precision position control and precision target estimation performance.

In other words, the sliding mode control algorithm has a problem of chattering due to abrupt switching of the control input occurring when the system state crosses the sliding surface in the process of reaching the sliding surface by the reaching law and reaching the origin in the state space. ), And such a trembling effect adversely affects an actuator, thereby reducing the accuracy of the system.

Registration No. 10-0932622 (Published on December 17, 2009)

SUMMARY OF THE INVENTION The present invention is conceived to solve the above-described problems, and it is an object of the present invention to provide a drive type weapon system mounted on a moving vehicle or a ship, which satisfies the robust characteristics of disturbance introduced from a vehicle or a ship, The present invention relates to a stabilization performance enhancement technique and system for a driving apparatus mounted on a mobile equipment capable of improving the reliability of a driving type weapon system by implementing an algorithm having a precise position control capability have.

According to an aspect of the present invention, there is provided a stabilization performance enhancement method of a driving apparatus mounted on a mobile equipment, the method including: (a) expressing a driving apparatus model as a linear standard type secondary system;

(b) designing an LQ controller having an optimal state feedback minimizing an objective function using a linear quadratic (LQ) control law giving a weight of a system variable;

(c) applying the LQ controller of step (b) to the drive unit model of step (a) to derive a closed loop dynamic system;

(d) defining a switching function of the sliding mode controller (SMC) as a solution of the state variable and differentiating the switching function;

(e) defining a reaching law of the variable structure control for the robust controller as a differential equation expressing the dynamics of the switching function in the step (d); And

(f) designing an RLQSMC controller by integrating the non-linear sliding switching plane based on the LQ controller and the reaching law;

.

Further, in the step (a)

As shown in FIG.

In addition, in the step (b)

는 양의 행렬이고

은 양의 상수이며 목적 가중치이다)로 정의하고,(here,

Is a positive matrix

Is a positive constant and is an objective weight)

The LQ controller of the optimum state feedback minimizing the objective function is expressed by Equation

는 최적 되먹임 이득이고

이며,

는 리카티(Riccati) 방정식의 유일해이다)로 정의하는 것을 특징으로 한다.(here,

Is the optimal feedback gain

Lt;

Is the only solution to the Riccati equation).

Further, in the step (c)

.

In addition, in the step (d)

는 상수 벡터,

는 시스템 상태 변수,

는 상태변수의 초기치이다)로 정의하고,(here,

Is a constant vector,

Is a system state variable,

Is the initial value of the state variable)

By differentiating the switching function,

.

In addition, in the step (e)

와

는 양의 대각 행렬(Positive Diagonal Matrix)과 양의 상수이고,

는 포화함수이다)(here,

Wow

Is a positive diagonal matrix and a positive constant,

Is a saturating function)

As shown in FIG.

In the step (f), the RLQSMC controller may be expressed by the following equation

As shown in FIG.

In order to achieve the above object, a stabilization performance enhancement system of a driving apparatus mounted on a mobile equipment according to the present invention is a RLQSMC control algorithm that integrates a nonlinear sliding switching plane based on a modified arrival law of an LQ controller and a sliding mode controller An RLQSMC controller for controlling the RLQSMC controller;

A drive unit model located at the rear end of the RLQSMC controller and represented by a linear standard type secondary system; And

An integrator for integrating the angular velocity output from the drive unit model and outputting a phase angle; Lt; / RTI >

And the angular velocity and phase angle are returned as state variables.

Further, the RLQSMC control algorithm may be expressed by Equation

As shown in FIG.

In order to accomplish the above object, the mobile equipment according to the present invention comprises a stabilization performance improving system of the above driving apparatus.

Further, the mobile equipment is a vehicle, a ship, or an aircraft, and the drive device is a driving weapon system.

According to the means for solving the problems described above, by combining the optimal control performance, which is a characteristic of the LQ controller, and the robustness, which is a feature of the sliding mode controller, with the driving apparatus mounted on the mobile equipment, stable characteristics are exhibited in the transient state and the steady state, It is possible to obtain stable control characteristics in a driving apparatus including a parameter variation and a nonlinear element, and to improve the target tracking performance.

1 is a block diagram of a system in which an LQ controller and a sliding mode control algorithm according to the present invention are applied to a driving apparatus.
2 is a graph showing a result of comparing the position control performance of the present invention and the conventional LQR controller.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

It is to be noted that the same components of the drawings are denoted by the same reference numerals and symbols as possible even if they are shown in different drawings.

In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

Also, when a part is referred to as "including " an element, it does not exclude other elements unless specifically stated otherwise.

FIG. 1 is a block diagram of a system in which an LQ controller and a sliding mode control algorithm according to the present invention are applied to a driving apparatus, the structure of which is shown in a Robust Linear Quadratic Sliding-mode Control (RLQSMC) Is represented by an integrator 26 and has a structure in which an angular velocity state variable? _M and a position (phase angle) state variable? _M are fed back.

First, the driving device model 24 is expressed by the following equation (1).

The design of the optimal controller using the LQ control law giving the weight of the system variables in the next RLQSMC controller 22 is achieved by minimizing the objective function of the following equation (2).

는 양의 행렬이고

은 양의 상수이며 모두 목적 가중치이다.here,

Is a positive matrix

Are positive constants and are all objective weights.

The LQ controller of the optimal state feedback minimizing the objective function of Equation (2) is expressed by Equation (3).

는 최적 되먹임 이득이고

으로 정의된다.here,

Is the optimal feedback gain

.

는 아래 리카티(Riccati) 방정식(수학식 4)의 유일해이다.Also,

Is the only one of the Riccati equations below (Equation 4).

The closed loop dynamic system is derived as shown in Equation (5) by applying the optimal state feedback LQ controller of Equation (3) to the driving device model (24) of Equation (1).

는 다음 수학식 6의 상태변수의 해로 정의한다.In the next RLQSMC controller 22, the switching function of the sliding mode controller,

Is defined as a solution of the state variable of the following equation (6).

는 상수 벡터,

는 시스템 상태 변수, 그리고

는 상태변수의 초기치이다.here,

Is a constant vector,

System state variables, and

Is the initial value of the state variable.

In order to satisfy the stability condition of the Lyapunov function, the Reaching Law of the Variable Structure Control for the Robust Controller is defined as a Differential Equation expressing the dynamics of the conversion function And the differential equation becomes a reaching condition.

In the present invention, the arrival law is modified and expressed by the following equation (7).

와

는 양의 대각 행렬(Positive Diagonal Matrix)과 양의 상수이고,

는 포화 함수(Saturation function)이다.here,

Wow

Is a positive diagonal matrix and a positive constant,

Is a saturation function.

If the above Equation (6) is differentiated, the following Equation (8) is derived.

If the LQ controller and the nonlinear sliding switching plane based on the modified arrival law of the sliding mode controller are integrated, Equation (7) and Equation (8) are expressed as Equation (9) below. Consequently, the RLQSMC controller Is expressed by the following Equation (10).

In this way, the angular velocity state variable? _M output from the drive unit model 24 is fed back to the RLQSMC controller 22 and integrated in the integrator to become the phase angle state variable? _M.

This phase is input to each of the state variables (θ _m) is the feedback target phase angle difference (θ _m -θ _r) with the (θ _r) again RLQSMC controller 22.

2 is a graph showing a result of comparing the position control performance of the present invention and the conventional LQR controller.

In order to apply the disturbance and the parameter variation that occur in the system, the simulation applies friction and backlash which are vibration and noise generating elements in the real system.

As a result, in the LQR (Linear Quadratic Regulator) controller, overshoot and undershoot that cause vibration and noise occur, but it shows stable result in RLQSMC controller.

As a result, according to the present invention, not only the characteristic of the LQ controller but also the robustness to disturbance, parameter variation, and nonlinear characteristics of the system occur.

Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. In addition, it is a matter of course that various modifications and variations are possible without departing from the scope of the technical idea of the present invention by anyone having ordinary skill in the art.

The present invention is applicable to all systems that require a target-oriented performance of a drive system mounted on a starting device such as a moving vehicle, a trap, an aircraft, and is capable of providing robustness against movement (roll, pitch, It can be applied to any system that can incorporate the necessary algorithms for equipment requiring position control capability.

Therefore, the algorithm developed in the present invention can be applied to all fields that can be used as a drive control algorithm required for a general drive system. The field of the robot can be applied to an industrial machining robot that requires joint control of a robot, precise measurement or machining, The driving weapon system is worth using.

22: RLQSMC controller 24: drive unit model
26: integrator

Claims (11)

(a) expressing a drive unit model as a linear standard secondary system;
(b) designing an LQ controller having an optimal state feedback minimizing an objective function using a linear quadratic (LQ) control law giving a weight of a system variable;
(c) applying the LQ controller of step (b) to the drive unit model of step (a) to derive a closed loop dynamic system;
(d) defining a switching function of the sliding mode controller (SMC) as a solution of the state variable and differentiating the switching function;
(e) defining a reaching law of the variable structure control for the robust controller as a differential equation expressing the dynamics of the switching function in the step (d); And
(f) designing an RLQSMC controller by integrating the non-linear sliding switching plane based on the LQ controller and the reaching law;
A stabilization performance enhancement technique of a driving apparatus mounted on a mobile equipment including a mobile terminal. The method according to claim 1,
In the step (a)

Wherein the stabilization performance enhancement method of the driving apparatus mounted on the mobile equipment is characterized by expressing the stabilization performance of the driving apparatus mounted on the mobile equipment. The method according to claim 1,
In the step (b)

(here,

Is a positive matrix

Is a positive constant and is an objective weight)
The LQ controller of the optimum state feedback minimizing the objective function is expressed by Equation

(here,

Is the optimal feedback gain

Lt; / RTI >

Is a unique equation for the Riccati equation). ≪ / RTI > The method according to claim 1,
In the step (c), the closed loop dynamic system is calculated by the following equation

Wherein the stabilizing performance of the driving device mounted on the mobile equipment is improved. The method according to claim 1,
In the step (d)

(here,

Is a constant vector,

Is a system state variable,

Is the initial value of the state variable)
By differentiating the switching function,

Wherein the stabilizing performance of the driving device mounted on the mobile equipment is improved. The method according to claim 1,
In the step (e), the reaching function is

(here,

Wow

Is a positive diagonal matrix and a positive constant,

Is a saturating function)
Wherein the stabilization performance improving method is a stabilization performance enhancement method of a driving apparatus mounted on a mobile equipment. The method according to claim 1,
In the step (f), the RLQSMC controller

Wherein the stabilization performance improving method is a stabilization performance enhancement method of a driving apparatus mounted on a mobile equipment. RLQSMC controller which controls by LLQSMC control algorithm which integrates LQ controller and nonlinear sliding switching plane based on modified arrival law of sliding mode controller;
A drive unit model located at the rear end of the RLQSMC controller and represented by a linear standard type secondary system; And
An integrator for integrating the angular velocity output from the drive unit model and outputting a phase angle; Lt; / RTI >
And the angular velocity and the phase angle are fed back as state variables. 9. The method of claim 8,
The RLQSMC control algorithm is expressed by Equation

Wherein the stabilization performance improving system of the driving apparatus mounted on the mobile equipment is defined as: A mobile equipment comprising a stabilization performance enhancement system of the drive system according to claim 8 or 9. 11. The method of claim 10,
Wherein the mobile equipment is a vehicle, a vessel or an aircraft, and the drive is a drive weapon system.

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