CN105717788A - Fast reflecting mirror auto-disturbances rejection control system based on fuzzy proportion integration differentiation (PID) - Google Patents
Fast reflecting mirror auto-disturbances rejection control system based on fuzzy proportion integration differentiation (PID) Download PDFInfo
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- G—PHYSICS
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- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
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Abstract
The invention provides a fast reflecting mirror auto-disturbances rejection control system based on fuzzy proportion integration differentiation (PID).The fast reflecting mirror auto-disturbances rejection control system comprises an input module, a conventional PID module, a fuzzy controller, a feed-forward correction module, a fast reflecting mirror system, a grating amesdial and an output module.The control module performs fuzzy processing on system deviation and deviation change rate through set fuzzy control rules and sets three control parameters of a PID controller, and the three control parameters act on a forward path and feed-forward correction links of the fast reflecting mirror control system respectively and are respectively used for controlling interference to the control system caused by motion and compensation disturbing signals of a fast reflecting mirror.Due to the fact that a control method does not rely on a precise mathematic mode of the fast reflecting mirror and does not require types of known disturbing signals, the control method has a wide applied range.
Description
Technical field
The invention belongs to precision optical machinery control field, be specifically related to a kind of fast mirror Active Disturbance Rejection Control system based on fuzzy.
Background technology
Fast mirror is the vitals in optical system, and it has the outstanding features such as fast response time, bandwidth height, compact conformation.Owing to its deflection angle is less, therefore generally form compound axis tracking system together with the track frame of big corner and moving target is caught and follows the tracks of.
Due to the complexity of working environment, quick reflex mirror system is inevitably subject to the impact of various interference factor, and these interference signals can cause that system can not produce accurate output, or even causes the distortion of output signal.Therefore the interference signal impact on systematic function should be taken into full account when designing fast mirror and controlling system so that it is the disturbing signal of input is had strong rejection ability.Therefore, how to reduce disturbance very necessary to the effect of fast mirror in research.
PID controls technology and has a wide range of applications in the control of fast mirror, is the control program of a kind of comparative maturity.Conventional fast mirror PID controller design method has pole zero cancellation method and incomplete differential method, but both controller design methods are desirable that and pick out more accurate controlled device mathematical model, and this is extremely difficult for the such complication system of fast mirror.
Fuzzy control is a kind of rule-based control, need not set up the accurate mathematical model of controlled device in the design process, thus have good robustness.Disturbing signal has uncertain characteristic, is difficult to represent interference signal by a concrete expression formula.
Summary of the invention
The technical problem to be solved in the present invention is: the problem that and fast mirror accurate not for fast mirror transmission function can be subject to unknown disturbance effect of signals, it is provided that a kind of fast mirror Active Disturbance Rejection Control system based on fuzzy.This fast mirror controls system can according to the rate of change of the deviation of mirror angle and deviation, real-time adjustment pid parameter, make quick reflex mirror system to respond faster, overshoot less, and improve stable state accuracy；Meanwhile, it is automatically adjusted the parameters of forward feedback correction link by fuzzy controller, makes the disturbing signal to fast mirror to be precisely compensated for, make disturbing signal reach minimum on the impact of quick reflex mirror system.
This invention address that its technical problem adopts following technical scheme: a kind of fast mirror Active Disturbance Rejection Control system based on fuzzy, including input module, traditional PI D-module, fuzzy controller, forward feedback correction module, quick reflex mirror system, grating micrometer and output module；The input of fuzzy controller accesses the error signal in system forward path and error change signal, and outfan accesses traditional PID module and forward feedback correction module, each serves as the effect that through path parameter and forward feedback correction module parameter are adjusted；
Described input module comprises signal processing and AD interface；
Described fuzzy controller, by defuzzification interface, fuzzy rule base, inference machine, defuzzification interface and fuzzy parameters self-turning module composition；Wherein, defuzzification interface is the input interface of fuzzy controller, and effect is that the input of the amount of determination really is converted to a fuzzy vector；Fuzzy rule base is used to deposit whole fuzzy control rule, provides rule when reasoning for inference machine；Inference machine is according to input fuzzy quantity, fuzzy control rule complete fuzzy reasoning to solve fuzzy relation equation and to obtain the part of fuzzy control quantity；Defuzzification interface is that the fuzzy control quantity tried to achieve is converted into the process controlling clearly and exporting；Described fuzzy parameters self-turning module, carries out on-line tuning to obtain Optimal Control effect by the output parameter of defuzzification interface；
Traditional PI D-module is made up of ratio, integration and differential control part, for the deviation between the actual rotational angle value according to fast mirror and setting corner value, with reference in the past, for now, estimates various situations in the future, it is achieved the control of system invariant parameter；
Described forward feedback correction module has two input interfaces, receives the input parameter of disturbing signal and fuzzy controller respectively；
The position of fast mirror can accurately be measured by described grating micrometer.
Wherein, described fuzzy parameters self-turning module, it is possible to the parameter KP of PID controller, KI, KD are carried out on-line tuning, obtains the Optimal Control effect to fast mirror.
The fast mirror based on fuzzy of the offer of the present invention controls system, and its use scope is: use in the control of fast mirror corner.
Compared with prior art, the beneficial effects of the present invention is, it is possible to make quick reflex mirror system have better time domain specification (including dynamic response characteristic and steady-state characteristic).Owing to hardly resulting in the mathematical models of fast mirror in engineering, when therefore using traditional PID to control fast mirror, often have the control system oscillation caused owing to parameter adjustment is improper, the phenomenon of unstable working condition.And fuzzy-adaptation PID control is independent of accurate mathematical model, thus the Parameters variation of system is insensitive, it is possible to obtain control effect preferably.Using the pid control parameter after fuzzy controller processes as inputing to feedforward disturbing signal, when disturbing signal is unknown, disturbance can be compensated, makes disturbing signal that the effect of quick reflex mirror system to be reduced, under theoretical case, it is possible to be decreased to zero.
Accompanying drawing explanation
Fig. 1 is based on the structure of fuzzy controller figure of the fast mirror Active Disturbance Rejection Control system of fuzzy.
Fig. 2 is based on the structure principle chart of the fast mirror Active Disturbance Rejection Control system of fuzzy.
Fig. 3 is based on the fast mirror Active Disturbance Rejection Control system control block figure of fuzzy.
Detailed description of the invention
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
The Active Disturbance Rejection Control system structure schematic diagram based on fuzzy of the proposition of the present invention is as in figure 2 it is shown, include input module, PID module, fuzzy controller, forward feedback correction module, quick reflex mirror system, grating micrometer.Wherein fuzzy controller is by carrying out Fuzzy Processing to the deviation e and deviation variation rate de/dt of the fast mirror actual deflection angle of input with the deflection angle of setting, two precise volume are become fuzzy quantity, then fuzzy decision is carried out further according to fuzzy control rule, obtain needing the fuzzy control quantity of output, finally carry out defuzzification process and adjust, obtaining output controlled quentity controlled variable KP, KI accurately, KD, and these control parameters are inputed to PID controller and forward feedback correction module.The transmission function of conventional PID controllers is:
The control block diagram of the Active Disturbance Rejection Control system based on fuzzy that the present invention proposes is as shown in Figure 3.The transmission function of disturbing signal can be calculated to obtain according to mason gain formual:
Make disturbing signal reach minimum on the impact of quick reflex mirror system, i.e. C (s)=0, thus can push away:
Owing to this full compensation condition is difficulty with in actual applications, therefore, engineering is generally adopted the approximate full scheme compensated, so that feedforward compensation device is prone to physics realization, if order:
Then GnS () is capable of physically, and reach the approximate full requirement compensated.
Three of fuzzy controller output control parameter KP, KI, KD and directly influence the compensation to disturbing signal of the forward feedback correction link.The disturbing signal of fast mirror effect can be delivered on input parameter e and the de/dt of fuzzy controller by feedback element, when it changes, the output parameter KP of fuzzy controller, KI, KD also can change the impact compensating new disturbing signal to quick reflex mirror system therewith, it is possible to is always ensured that the effect of quick reflex mirror system is reached minimum by disturbing signal.
The fast mirror Active Disturbance Rejection Control system based on fuzzy that the present invention proposes, its work process is: first being inputted fast mirror by input interface needs the angle of deflection, now, fast mirror can produce an actual output deflection angle, fuzzy controller defuzzification interface can receive output deflection angle and the deviation and the deviation variation rate that input deflection angle, and according in fuzzy rule base, data are made inferences, obtain fuzzy control quantity, and fuzzy control quantity is carried out defuzzification process, carry out parameter tuning again, obtain three control coefrficients of PID controller, if system exists disturbing signal, these three can be controlled parameter simultaneously and input to forward feedback correction module by fuzzy controller, the closed loop transfer function making the bang path of disturbing signal is zero, under theoretical case, the disturbance output of quick reflex mirror system also will be zero, owing to fuzzy controller is independent of accurate mathematical model, therefore this fast mirror control system has good robustness.
Claims (3)
1. the fast mirror Active Disturbance Rejection Control system based on fuzzy, it is characterised in that: include input module, traditional PI D-module, fuzzy controller, forward feedback correction module, quick reflex mirror system, grating micrometer and output module；The input of fuzzy controller accesses the error signal in system forward path and error change signal, and outfan accesses traditional PID module and forward feedback correction module, each serves as the effect that through path parameter and forward feedback correction module parameter are adjusted；
Described input module comprises signal processing and AD interface；
Described fuzzy controller, by defuzzification interface, fuzzy rule base, inference machine, defuzzification interface and fuzzy parameters self-turning module composition；Wherein, defuzzification interface is the input interface of fuzzy controller, and effect is that the input of the amount of determination really is converted to a fuzzy vector；Fuzzy rule base is used to deposit whole fuzzy control rule, provides rule when reasoning for inference machine；Inference machine is according to input fuzzy quantity, fuzzy control rule complete fuzzy reasoning to solve fuzzy relation equation and to obtain the part of fuzzy control quantity；Defuzzification interface is that the fuzzy control quantity tried to achieve is converted into the process controlling clearly and exporting；Described fuzzy parameters self-turning module, carries out on-line tuning to obtain Optimal Control effect by the output parameter of defuzzification interface；
Traditional PI D-module is made up of ratio, integration and differential control part, for the deviation between the actual rotational angle value according to fast mirror and setting corner value, with reference in the past, for now, estimates various situations in the future, it is achieved the control of system invariant parameter；
Described forward feedback correction module has two input interfaces, receives the input parameter of disturbing signal and fuzzy controller respectively；
The position of fast mirror can accurately be measured by described grating micrometer.
2. the fast mirror Active Disturbance Rejection Control system based on fuzzy according to claim 1, it is characterized in that described fuzzy parameters self-turning module, the parameter KP of PID controller, KI, KD can be carried out on-line tuning, obtain the Optimal Control effect to fast mirror.
3. the fast mirror Active Disturbance Rejection Control system based on fuzzy according to claim 1, it is characterised in that its use scope is: use in the control of fast mirror corner.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105911869A (en) * | 2016-06-30 | 2016-08-31 | 中国科学院光电技术研究所 | Interference observation based quick reflector disturbance restraining method |
| CN106707766A (en) * | 2017-03-09 | 2017-05-24 | 中国科学院光电技术研究所 | Error observer-based feedforward control method of fast mirror |
| CN107272411A (en) * | 2017-07-11 | 2017-10-20 | 中国科学院光电技术研究所 | A kind of fast anti-mirror beamstability control method of plug-in type accelerator feedback |
| CN107728472A (en) * | 2017-09-04 | 2018-02-23 | 中国科学院光电技术研究所 | A kind of fast anti-mirror disturbance observation compensating control method based on single accelerometer |
| CN108931916A (en) * | 2018-07-17 | 2018-12-04 | 西安交通大学 | The tracking control system of anti-mirror and bandwidth improve and phase-lag compensation method electromagnetic type fastly |
| CN109932894A (en) * | 2019-01-31 | 2019-06-25 | 中国科学院上海光学精密机械研究所 | Fuzzy servo controller and its method of servo-controlling |
| CN111007664A (en) * | 2019-12-18 | 2020-04-14 | 中国科学院光电技术研究所 | Design method of diffractive optical element with high diffraction efficiency and low speckle noise |
| CN111663032A (en) * | 2020-06-01 | 2020-09-15 | 浙江兆晶电气科技有限公司 | Novel active disturbance rejection temperature control method for amorphous iron core annealing furnace |
| CN112904712A (en) * | 2020-12-14 | 2021-06-04 | 天津津航技术物理研究所 | State matrix-based optimal feedback control method applied to composite axis system |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105911869A (en) * | 2016-06-30 | 2016-08-31 | 中国科学院光电技术研究所 | Interference observation based quick reflector disturbance restraining method |
| CN105911869B (en) * | 2016-06-30 | 2019-01-22 | 中国科学院光电技术研究所 | A kind of fast mirror Disturbance Rejection method based on disturbance-observer |
| CN106707766A (en) * | 2017-03-09 | 2017-05-24 | 中国科学院光电技术研究所 | Error observer-based feedforward control method of fast mirror |
| CN106707766B (en) * | 2017-03-09 | 2020-05-01 | 中国科学院光电技术研究所 | Error observer-based feed-forward control method for fast reflecting mirror |
| CN107272411A (en) * | 2017-07-11 | 2017-10-20 | 中国科学院光电技术研究所 | A kind of fast anti-mirror beamstability control method of plug-in type accelerator feedback |
| CN107728472A (en) * | 2017-09-04 | 2018-02-23 | 中国科学院光电技术研究所 | A kind of fast anti-mirror disturbance observation compensating control method based on single accelerometer |
| CN108931916A (en) * | 2018-07-17 | 2018-12-04 | 西安交通大学 | The tracking control system of anti-mirror and bandwidth improve and phase-lag compensation method electromagnetic type fastly |
| CN109932894A (en) * | 2019-01-31 | 2019-06-25 | 中国科学院上海光学精密机械研究所 | Fuzzy servo controller and its method of servo-controlling |
| CN111007664A (en) * | 2019-12-18 | 2020-04-14 | 中国科学院光电技术研究所 | Design method of diffractive optical element with high diffraction efficiency and low speckle noise |
| CN111663032A (en) * | 2020-06-01 | 2020-09-15 | 浙江兆晶电气科技有限公司 | Novel active disturbance rejection temperature control method for amorphous iron core annealing furnace |
| CN111663032B (en) * | 2020-06-01 | 2022-02-18 | 浙江兆晶电气科技有限公司 | Active disturbance rejection temperature control method for amorphous iron core annealing furnace |
| CN112904712A (en) * | 2020-12-14 | 2021-06-04 | 天津津航技术物理研究所 | State matrix-based optimal feedback control method applied to composite axis system |
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