CN106773688A - A kind of direct adaptive control method and device - Google Patents
A kind of direct adaptive control method and device Download PDFInfo
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- CN106773688A CN106773688A CN201611147492.2A CN201611147492A CN106773688A CN 106773688 A CN106773688 A CN 106773688A CN 201611147492 A CN201611147492 A CN 201611147492A CN 106773688 A CN106773688 A CN 106773688A
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- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- 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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- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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Abstract
The embodiment of the invention discloses a kind of direct adaptive control method and device, solve dead band present in nonlinear system and the nonlinear technical problem of failure, to there is the non-linear stability and good tracking performance realized effective compensation, finally ensure that system operation.Embodiment of the present invention direct adaptive control method includes：The dead band according to present in control system and failure are non-linear, set up dead band and the nonlinear dynamic model of failure；By constructing the inverse function in dead band, the dynamic model to dead-time voltage is compensated；To being compensated due to the compensation error produced by dead band against compensation method and the failure non-linear dynamic model being present in the actuator of dead band.
Description
Technical field
The present invention relates to automatic control technology field, more particularly to a kind of direct adaptive control method and device.
Background technology
Self Adaptive Control is a most branch of prospect in modern control theory, and in space flight and aviation, electronic communication, energy
Obtain in the fields such as source supply, communications and transportation, environmental protection, weaponry, process control, power electronics, machine manufacture, light industry building materials
Obtained and be widely applied.
With the development and progress of science and technology, production technology and operation procedure become to become increasingly complex, essence of the people to system
Degree and stability requirement more and more higher, so as to the difficulty for causing controller design also becomes increasing.For this case, letter
Single feedback control for stational system much can not meet highly difficult control requirement, therefore " Self Adaptive Control "
Thus thought also produced, that is, is input into and output information by measurement system, and controlled device and systematic error are grasped in real time
Dynamic characteristic, and controlled quentity controlled variable is adjusted according to its situation of change in time, make the control performance of system optimal or reach it is satisfied will
Ask.
The world entered after the eighties in 20th century, along with the maturation of modern control theory, microelectric technique and computer
The development of technology, and cheap microcomputer and processor appearance, adaptive control technology is more widely applied.Extremely
The present, Self Adaptive Control is not only obtained compared with ten-strike in industrial circle, is also carried out in non-industrial circles such as society, economic and medical science
Beneficial exploration.In industrial circle, Self Adaptive Control mainly applies to：Intelligent high accuracy is electromechanical or electrohydraulic system is controlled,
Primarily directed to the control of robot, uninterrupted power source, motor or Hydrauservo System etc.；Industrial stokehold, mainly includes
The application fields such as chemical process, metallurgical process, food processing process, paper-making process, steel plant process, mechanical processing process；
Nowadays popular space flight and aviation, navigation and the unmanned field of automobile；Flexible structure and vibration and control and the power train of noise
Control of system etc..And in non-industrial circle, although the application of Self Adaptive Control is not extensive, existing successful examples.Display
Go out good prospect, such as the thought of Self Adaptive Control can be used for drafting supply of commodities in society, Economics and Management field
Amount, to obtain maximum profit；Drug dose or food are controlled with Self Adaptive Control in environment and biomedical sector
Supply, makes environment and biosystem keep balance.
Self Adaptive Control with being aimed at uncertain parameters systems model.It is known that any one dynamical system
System, generally all has the different uncertainty of degree, such as：The random perturbation that system input is included, the measurement sensor tool of system
The parameter even structure for having measurement noise, system mathematic model has uncertainty.In these uncertainties, common presence
Non-linear in system has a sluggishness, dead band, gap, friction, failure etc., no matter which kind of it is non-linear be present in system, all
The stability of system will be impacted, ultimately result in the unstable technical problem of system.
The content of the invention
A kind of direct adaptive control method and device provided in an embodiment of the present invention, solves in nonlinear system and exists
Dead band and the nonlinear technical problem of failure, to exist it is non-linear realize effective compensation, finally ensure that the steady of system operation
Qualitative and good tracking performance.
A kind of direct adaptive control method provided in an embodiment of the present invention, including：
The dead band according to present in control system and failure are non-linear, set up dead band and the nonlinear dynamic model of failure；
By constructing the inverse function in dead band, the dynamic model to dead-time voltage carries out inverse compensation；
To the compensation error produced by the inverse compensation and the failure nonlinear kinetics mould being present in the actuator of dead band
Type is compensated.
Preferably, the dead band according to present in control system and failure are non-linear, set up dead band and failure is nonlinear dynamic
Also include before states model：
According to the nonlinear system with unknown control coefrficientDefine actuator
Input τj(j=1,2 ..., q) export u with actuatorj(j=1,2 ..., q)；
Wherein x ∈ RnIt is state variable, y ∈ R are system output, uj(j=1,2 ..., q) represent j-th control of system
Input, fi(x)∈Rn(i=1,2 ..., p) and gj(x)∈Rn(j=1,2 ..., q) be unknown smooth function, θi(i=1,
2 ..., p) and bj(j=1,2 ..., q) it is unknown control coefrficient.
Preferably, the dead band according to present in control system and failure are non-linear, set up dead band and failure is nonlinear dynamic
States model is specifically included：
According to non-linear in the control system for getting, to being present in the dead-time voltage in j-th actuator, it is determined that holding
The dynamic model of row device is uj=D (τj), j=1,2 ..., q；
WhereinWherein d-＜ 0, d+＞ 0, mr,mlIt is unknown constant, [d-,d+]
Represent that dead band is interval, the parameter in dead band meets mr≥mr0, ml≥ml0, wherein mr.mlIt is two normal numbers.
Preferably, by constructing the inverse function in dead band, the dynamic model to dead-time voltage specifically included against compensation：
By the inverse function for constructing dead bandObtain
The dynamic model for determining the dead-time voltage according to the inverse function isWherein, perform
Device is input into τjFor
Calculate Virtual Controller input vjV is input into the inverse module of designdjBetween error beWherein DNjTo there is dividing value, it is
Preferably, to the compensation error produced by the inverse compensation and the failure Nonlinear Dynamic being present in the actuator of dead band
Mechanical model is compensated and specifically included：
The failure according to present in control system is non-linear, set up the nonlinear dynamic model of failure forρjvsj=0, j=1,2 ..., q, wherein ρj∈ [0,1), vsjAnd tiFIt is unknown constant；
According to the nonlinear dynamic model of failure to inverse compensation error and the failure non-thread in the dead band that is present in control system
Property carries out adaptive equalization.
A kind of direct adaptive control device provided in an embodiment of the present invention, including：
Determining unit, it is non-linear for the dead band according to present in control system and failure, set up dead band and failure non-thread
The dynamic model of property；
Dead area compensation unit, for the inverse function by constructing dead band, the dynamic model to dead-time voltage carries out inverse benefit
Repay；
Inverse compensation error and Failure elimination unit, for the compensation error produced by the inverse compensation and being present in dead band
Failure non-linear dynamic model in actuator is compensated.
Preferably, direct adaptive control device also includes：
Definition unit, for according to the nonlinear system with unknown control coefrficientDefine actuator input τj(j=1,2 ..., q) export u with actuatorj(j=1,
2,...,q)；
Wherein x ∈ RnIt is state variable, y ∈ R are system output, uj(j=1,2 ..., q) represent j-th control of system
Input, fi(x)∈Rn(i=1,2 ..., p) and gj(x)∈Rn(j=1,2 ..., q) be unknown smooth function, θi(i=1,
2 ..., p) and bj(j=1,2 ..., q) it is unknown control coefrficient.
Preferably, determining unit, specifically for according to non-linear in the control system for getting, to being present in j-th execution
Dead-time voltage in device, the dynamic model for determining actuator is uj=D (τj), j=1,2 ..., q；
WhereinWherein d_＜ 0, d+＞ 0, mr,mlIt is unknown constant, [d_,d+]
Represent that dead band is interval, the parameter in dead band meets mr≥mr0, ml≥ml0, wherein mr.mlIt is two normal numbers.
Preferably, dead area compensation unit includes：
Inverse function subelement, for the inverse function by constructing dead band
Obtain
Dynamic model subelement, the dynamic model for determining the dead-time voltage according to the inverse function isWherein, actuator input τjFor
Computation subunit, for calculating Virtual Controller input vjV is input into the inverse module of designdjBetween error beWherein DNjTo there is dividing value, it is
Preferably, inverse compensation error and Failure elimination unit include：
Kinetic model subelement, it is non-linear for the failure according to present in control system, set up failure nonlinear
Dynamic model forρjvsj=0, j=1,2 ..., q, wherein ρj∈ [0,1), vsjAnd tiFIt is not
Know constant；
Inverse compensation error and Failure elimination subelement, for being to being present in control according to the nonlinear dynamic model of failure
The inverse compensation error in dead band in system and failure is non-linear carries out adaptive equalization.
As can be seen from the above technical solutions, the embodiment of the present invention has advantages below：
A kind of direct adaptive control method and device provided in an embodiment of the present invention, wherein, direct adaptive control side
Method includes：The dead band according to present in control system and failure are non-linear, set up dead band and the nonlinear dynamic model of failure；It is logical
The inverse function in construction dead band is crossed, the dynamic model to dead-time voltage carries out inverse compensation；To the compensation error produced by inverse compensation
Compensated with the failure non-linear dynamic model being present in the actuator of dead band.In the present embodiment, it is by according to control
Dead band present in system and failure are non-linear, set up dead band and the nonlinear dynamic model of failure, by the inverse letter for constructing dead band
Number, the dynamic model to dead-time voltage carries out inverse compensation, and the compensation error produced by inverse compensation is performed with dead band is present in
Failure non-linear dynamic model in device is compensated, and solves dead band present in nonlinear system and failure is nonlinear
Technical problem, to there is the non-linear stability and good tracking performance realized effective compensation, finally ensure that system operation.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
Other accompanying drawings are obtained with according to these accompanying drawings.
Fig. 1 is that a kind of flow of one embodiment of direct adaptive control method provided in an embodiment of the present invention is illustrated
Figure；
Fig. 2 is a kind of structural representation of one embodiment of direct adaptive control device provided in an embodiment of the present invention
Figure；
Fig. 3 is to contain dead band and the nonlinear system control schematic diagram of failure；
Fig. 4 is dead-time voltage figure；
Fig. 5 is dead band against compensation system schematic diagram.
Specific embodiment
A kind of direct adaptive control method and device provided in an embodiment of the present invention, solves in nonlinear system and exists
Dead band and the nonlinear technical problem of failure, to exist it is non-linear realize effective compensation, finally ensure that the steady of system operation
Qualitative and good tracking performance.
To enable that goal of the invention of the invention, feature, advantage are more obvious and understandable, below in conjunction with the present invention
Accompanying drawing in embodiment, is clearly and completely described, it is clear that disclosed below to the technical scheme in the embodiment of the present invention
Embodiment be only a part of embodiment of the invention, and not all embodiment.Based on the embodiment in the present invention, this area
All other embodiment that those of ordinary skill is obtained under the premise of creative work is not made, belongs to protection of the present invention
Scope.
Fig. 1 is referred to, a kind of one embodiment of direct adaptive control method provided in an embodiment of the present invention includes：
101st, according to the nonlinear system with unknown control coefrficientDefinition is held
Row device is input into τj(j=1,2 ..., q) export u with actuatorj(j=1,2 ..., q)；
When needing to solve actuator dead band and failure, it is necessary first to according to the nonlinear system with unknown control coefrficientDefine actuator input τj(j=1,2 ..., q) export u with actuatorj(j=1,
2,...,q)。
Wherein x ∈ RnIt is state variable, y ∈ R are system output, uj(j=1,2 ..., q) represent j-th control of system
Input, fi(x)∈Rn(i=1,2 ..., p) and gj(x)∈Rn(j=1,2 ..., q) be unknown smooth function, θi(i=1,
2 ..., p) and bj(j=1,2 ..., q) it is unknown control coefrficient.
102nd, the dead band according to present in control system and failure are non-linear, set up dead band and the nonlinear dynamic analog of failure
Type；
Need the dead band according to present in control system and failure non-linear, set up dead band and the nonlinear dynamic analog of failure
Type.
Specifically, according to non-linear in the control system for getting, to being present in the dead-time voltage in j-th actuator,
The dynamic model for determining actuator is uj=D (τj), j=1,2 ..., q；
WhereinWherein d_＜ 0, d+＞ 0, mr,mlIt is unknown constant, [d_,d+]
Represent that dead band is interval, the parameter in dead band meets mr≥mr0, ml≥ml0, wherein mr.mlIt is two normal numbers.
103rd, by constructing the inverse function in dead band, the dynamic model to dead-time voltage carries out inverse compensation；
The inverse function by constructing dead band is needed, the dynamic model to dead-time voltage carries out inverse compensation.
It is specific as follows：
By the inverse function for constructing dead bandObtain
The dynamic model for determining dead-time voltage according to inverse function isWherein, actuator input τjFor
Calculate Virtual Controller input vjV is input into the inverse module of designdjBetween error beWherein DNjTo there is dividing value, it is
104th, to the compensation error produced by the inverse compensation and the failure non-linear dynamic being present in the actuator of dead band
Model is learned to compensate.
To the compensation error produced by the inverse compensation and the failure nonlinear kinetics mould being present in the actuator of dead band
Type is compensated, specific as follows：
The failure according to present in control system is non-linear, set up the nonlinear dynamic model of failure forρjvsj=0, j=1,2 ..., q, wherein ρj∈ [0,1), vsjAnd tiFIt is unknown constant；
According to the nonlinear dynamic model of failure to inverse compensation error and the failure non-thread in the dead band that is present in control system
Property carries out adaptive equalization.
It is described with a concrete application scene below, such as application examples of Fig. 3 to 5 includes：
The present invention proposes a kind of new controller based on self-adaptation control method, can be to present in nonlinear system
Actuator dead band and failure carry out effective compensation.
Comprise the following steps that：
1) for the nonlinear system with unknown parameter：
Y=h (x) (2)
Wherein x ∈ RnIt is state variable, y ∈ R are system output, uj(j=1,2 ..., q) represent j-th control of system
Input, fi(x)∈Rn(i=1,2 ..., p) and gj(x)∈Rn(j=1,2 ..., q) be unknown smooth function, θi(i=1,
2 ..., p) and bj(j=1,2 ..., q) it is unknown control coefrficient.
Assuming that 1.：(1)-(2) are in the controls highly versatile models, are met with for any q-1 actuator non-
Linearly, remaining actuator remains able to obtain control command.
2) it is τ to define actuator inputj(j=1,2 ..., q), actuator is output as uj(j=1, then 2 ..., q), unperturbed
Dynamic Actuator dynamic model is：τj=uj.But in actual control system, preferable undisturbed state is hardly possible
, each quasi-nonlinear is widely present in control system.Therefore it is to be ensured that the stable operation of system is, it is necessary to find to control system
The non-linear method for carrying out corresponding compensation present in system.
3) for the dead-time voltage being present in j-th actuator, the dynamic model of actuator can be expressed as
uj=D (τj), j=1,2 ..., q (3)
Wherein
Wherein d_＜ 0, d+＞ 0, mr,mlIt is unknown constant, [d_,d+] represent that dead band is interval.
Assuming that 2.：Assuming that system actuators there occurs dead-time voltage, the parameter in dead band meets mr≥mr0, ml≥ml0, its
Middle mr.mlIt is two normal numbers.
4) by constructing the inverse function in dead band, we can design an inverse module and dead-time voltage is compensated, and
Thus the error between dead band output and the inverse module input of design is obtained, the error can pass through adaptive rate in subsequent step
Design eliminate.Therefore, the dead band inverse function that we construct is
Wherein
Wherein e0＞ 0 is the parameter of sets itself.In order to describe conveniently, dead-time voltage dynamic model (4) can be stated
For
vj=-θj Twj (7)
Wherein
Due to θj(j=1,2 ..., q) be unknown, wj(j=1,2 ..., cannot q) measure and learn in systems in practice,
Therefore vjNeeds are designed as
WhereinIt is θjEstimate,It is 4
× 1 definition matrix.
Thus we can obtain actuator input τjFor
Virtual Controller input v can be obtained by (7) and (11)jV is input into the inverse module of designdjBetween error be
Understand in the prior art, DNjIt is have dividing value, can be expressed as
Represent DNjThe upper bound.The error term can be impacted to the stability of a system, therefore we are in ensuing control
, it is necessary to design corresponding adaptive rate with the method for Self Adaptive Control in device design, the error term is eliminated.
5) consider phenomenon of the failure (as shown in Figure of description 1) that may be present in the actuator of dead band, be directed to dynamical system
System (1)-(2), the kinetic model of actuator failures can be expressed as
ρjvsj=0, j=1,2 ..., q (16)
Wherein ρj∈ [0,1), vsjAnd tiFIt is unknown constant.Therefore, the design of target controller needs to meet following
Condition：
1. need to design corresponding adaptive rate, can compensate for due to the error term produced by the inverse compensation in dead band；
2. need to design corresponding adaptive rate and controller, influence of the actuator failures to system can be eliminated, keep
The stability of system so that system output being capable of track reference input.
Controller of the present invention based on Self Adaptive Control, it is therefore an objective to actuator dead band present in system and failure non-thread
Property carry out effective compensation, make system remained under the working environment of actuator dead band and the non-linear presence of failure keep stabilization work
Make state.
The detailed process to the controller design is illustrated below.
Fig. 3 is system control block figure, non-linear in the presence of the dead band and failure that are likely to occur in actuator.
1) presently, there are a differomorphism matrix [x, η]T=T (x)=[Ts(x)Tc(x)], can be by system (1)-(2)
Be converted to following form.
Assuming that 3.：Assuming that reference signal yrWithIt is known bounded and continuous, γi(x, η) ≠ 0,
And biSign function sign (bi) (i=1,2 ..., it is q) known.
2) method based on Tuning Function, we define error variance and are
Our target is to obtain final controller dynamic model, is that we need to be divided into λ steps and discuss this.First
We carry out adaptive stabilizing and analyze and assume x to first state equation (i.e. the situation of i=1) in (17)2It is controllable.According to
This, in following each step, assuming that xi+1On the premise of controllable, i-th stability of state equation can be by phase
The Lyapunov equations answered are analyzed, and design corresponding stability contorting function alphaiAnd adjustment functionAnd then obtain required stabilization
Controller.But actually only there was only x in systems1It is controllable, therefore corresponding system controller u and corresponding adaptive rate
Can only be obtained in final step λ.
3) step 1：Our first selection analysis the first two error variances
ByCan be expressed as
The corresponding Lyapunov functions are selected to be
The then derivative of Lyapunov functionsFor
WhereinAssuming that x2It is controllable, make x2≡ 0, i.e. x2≡α1.In order to meetSelection control rate beStability function α1And adjustment functionRespectively
Due to actually x2It is uncontrollable, then there is x2≠ 0,Can not again as control rate.Therefore, we willTable
It is shown as
Step i (i=2,3 ..., λ -1)：I+1 error variance is
By
Stability function αiAnd adjustment functionIt is expressed as
Wherein
We are omitted to the analysis in the i-th step to stability, and corresponding system Lyapunov stability analyses will be last
One step is carried out.
Step λ：The λ error variance be
By(13) can obtain
As can be seen from the above equation, the error term produced by the inverse compensation in dead band is included in error variance, is also wrapped in formula in addition
Contain the dynamic model of actuator failures, therefore in the design of controller, we should consider how the inverse compensation in deadband eliminating
Error term and the non-linear influence to system of failure.Therefore, we combine robust control, parametrization and direct adaptive control
Thought, it is proposed that a kind of new controller, can effectively eliminate influence of the disturbance to the stability of a system.
Can be obtained from (14)
I.e. the error term make it is bounded above, can use robust control method realize eliminate.By (15)-(16) formula, I
Assume in time interval [Tk-1,Tk) in there is pkIndividual actuator breaks down, then define Pk={ j1,j2,...,jpk, represent
Internal fault actuator set is sometime being spaced, in addition, definitionRepresentIndividual part event
Hinder the actuator set of (0 ＜ ρ ＜ 1), definitionRepresentIndividual complete failure (ρ
=actuator set 1).In addition, we define Lyapunov functions being
According to Lyapunov stability analyses, system will keep stabilization, thenIt must is fulfilled for
According to above-mentioned analysis, we can design corresponding stability function and adjustment function is
Corresponding adaptive rate is designed as
Wherein ω=[αλ,γ1,...,γq].Controller design is accordingly
This step is arrived, the controller based on control rate (38) and with corresponding adaptive rate (37) has designed completion,
The derivative of final Lyapunov functions meets
From Lyapunov function stability analyses, the system with the controller is in dead band and the non-linear presence of failure
Situation remain to the stability of holding system, and steady-state error finally converges to zero.
To sum up, a kind of direct adaptive control method based on actuator dead band and Fault Compensation has designed completion.
Theorem：Consider that the actuator in Closed loop nonlinear system (1)-(2) has dead-time voltage (4), and each is performed
Device all there may be failure (15)-(16), meet assume 1. -3. under conditions of, with adaptive rate (37) and controller
(38) nonlinear system can all the time maintain stabilization in operation, and ensure that tracking error can finally converge on zero.
In the present embodiment, by according to non-linear in the control system that gets, determining the actuator of control system in
The dynamic model of the actuator of dead-time voltage, by constructing the inverse function in dead band, the dynamic model to dead-time voltage is carried out
Compensation, actuator failures elimination is carried out to setting up the corresponding kinetic model of actuator failures according to dead-time voltage, is solved
Dead band present in nonlinear system and the nonlinear technical problem of failure, to exist it is non-linear realize effective compensation, it is final to protect
The stability and good tracking performance of system operation are demonstrate,proved.
Fig. 2 is referred to, a kind of one embodiment for the direct adaptive control device provided in the embodiment of the present invention includes：
Definition unit 201, for according to the nonlinear system with unknown control coefrficientDefine actuator input τj(j=1,2 ..., q) export u with actuatorj(j=1,
2,...,q)；
Wherein x ∈ RnIt is state variable, y ∈ R are system output, uj(j=1,2 ..., q) represent j-th control of system
Input, fi(x)∈Rn(i=1,2 ..., p) and gj(x)∈Rn(j=1,2 ..., q) be unknown smooth function, θi(i=1,
2 ..., p) and bj(j=1,2 ..., q) it is unknown control coefrficient.
Determining unit 202, it is non-linear for the dead band according to present in control system and failure, set up dead band and failure
Nonlinear dynamic model, determining unit 202, specifically for according to non-linear in the control system for getting, to being present in j-th
Dead-time voltage in actuator, the dynamic model for determining actuator is uj=D (τj), j=1,2 ..., q；
WhereinWherein d_＜ 0, d+＞ 0, mr,mlIt is unknown constant, [d_,d+]
Represent that dead band is interval, the parameter in dead band meets mr≥mr0, ml≥ml0, wherein mr.mlIt is two normal numbers.
Dead area compensation unit 203, for the inverse function by constructing dead band, is carried out inverse to the dynamic model of dead-time voltage
Compensation；
Dead area compensation unit 203 includes：
Inverse function subelement 2031, for the inverse function by constructing dead bandObtain
Dynamic model subelement 2032, the dynamic model for determining dead-time voltage according to inverse function isWherein, actuator input τjFor
Computation subunit 2033, for calculating Virtual Controller input vjV is input into the inverse module of designdjBetween error
ForWherein DNjTo there is dividing value, it is
Inverse compensation error and Failure elimination unit 204, for the compensation error produced by the inverse compensation and being present in
Failure non-linear dynamic model in the actuator of dead band is compensated.
Inverse compensation error and Failure elimination unit 204 include：
Kinetic model subelement 2041, it is non-linear for the failure according to present in control system, set up failure non-thread
The dynamic model of property forρjvsj=0, j=1,2 ..., q, wherein ρj∈ [0,1), vsjAnd tiF
It is unknown constant；
Inverse compensation error and Failure elimination subelement 2042, for according to the nonlinear dynamic model of failure to being present in control
The inverse compensation error in dead band in system processed and failure is non-linear carries out adaptive equalization.
It is apparent to those skilled in the art that, for convenience and simplicity of description, foregoing description is
The specific work process of system, device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method can be with
Realize by another way.For example, device embodiment described above is only schematical, for example, the unit
Divide, only a kind of division of logic function there can be other dividing mode when actually realizing, for example multiple units or component
Can combine or be desirably integrated into another system, or some features can be ignored, or do not perform.It is another, it is shown or
The coupling each other for discussing or direct-coupling or communication connection can be the indirect couplings of device or unit by some interfaces
Close or communicate to connect, can be electrical, mechanical or other forms.
The unit that is illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be according to the actual needs selected to realize the mesh of this embodiment scheme
's.
In addition, during each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.Above-mentioned integrated list
Unit can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is to realize in the form of SFU software functional unit and as independent production marketing or use
When, can store in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part for being contributed to prior art in other words or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are used to so that a computer
Equipment (can be personal computer, server, or network equipment etc.) performs the complete of each embodiment methods described of the invention
Portion or part steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to preceding
Embodiment is stated to be described in detail the present invention, it will be understood by those within the art that：It still can be to preceding
State the technical scheme described in each embodiment to modify, or equivalent is carried out to which part technical characteristic；And these
Modification is replaced, and does not make the spirit and scope of the essence disengaging various embodiments of the present invention technical scheme of appropriate technical solution.
Claims (10)
1. a kind of direct adaptive control method, it is characterised in that including：
The dead band according to present in control system and failure are non-linear, set up dead band and the nonlinear dynamic model of failure；
By constructing the inverse function in dead band, the dynamic model to dead-time voltage carries out inverse compensation；
Compensation error produced by the inverse compensation and the failure non-linear dynamic model being present in the actuator of dead band are entered
Row compensation.
2. direct adaptive control method according to claim 1, it is characterised in that dead according to present in control system
Area and failure are non-linear, also include before setting up dead band and the nonlinear dynamic model of failure：
According to the nonlinear system with unknown control coefrficientDefine actuator input
τj(j=1,2 ..., q) export u with actuatorj(j=1,2 ..., q)；
Wherein x ∈ RnIt is state variable, y ∈ R are system output, uj(j=1,2 ..., q) represent that j-th control of system is defeated
Enter, fi(x)∈Rn(i=1,2 ..., p) and gj(x)∈Rn(j=1,2 ..., q) be unknown smooth function, θi(i=1,
2 ..., p) and bj(j=1,2 ..., q) it is unknown control coefrficient.
3. direct adaptive control method according to claim 1, it is characterised in that dead according to present in control system
Area and failure are non-linear, set up dead band and the nonlinear dynamic model of failure is specifically included：
According to non-linear in the control system for getting, to being present in the dead-time voltage in j-th actuator, actuator is determined
Dynamic model is uj=D (τj), j=1,2 ..., q；
WhereinWherein d_＜ 0, d+＞ 0, mr,mlIt is unknown constant, [d_,d+] represent
Dead band is interval, and the parameter in dead band meets mr≥mr0, ml≥ml0, wherein mr.mlIt is two normal numbers.
4. direct adaptive control method according to claim 3, it is characterised in that by constructing the inverse function in dead band,
Dynamic model to dead-time voltage specifically included against compensation：
By the inverse function for constructing dead bandObtain
The dynamic model for determining the dead-time voltage according to the inverse function isWherein, actuator is defeated
Enter τjFor
Calculate Virtual Controller input vjV is input into the inverse module of designdjBetween error beIts
Middle DNjTo there is dividing value, it is
5. direct adaptive control method according to claim 4, it is characterised in that to the benefit produced by the inverse compensation
Repay error and the failure non-linear dynamic model that is present in the actuator of dead band is compensated and specifically included：
The failure according to present in control system is non-linear, set up the nonlinear dynamic model of failure forρjvsj=0, j=1,2 ..., q, wherein ρj∈ [0,1), vsjAnd tiFIt is unknown constant；
According to the nonlinear dynamic model of failure it is non-linear to the inverse compensation error in the dead band that is present in control system and failure enter
Row adaptive equalization.
6. a kind of direct adaptive control device, it is characterised in that including：
Determining unit, it is non-linear for the dead band according to present in control system and failure, set up dead band and failure is nonlinear
Dynamic model；
Dead area compensation unit, for the inverse function by constructing dead band, the dynamic model to dead-time voltage carries out inverse compensation；
Inverse compensation error and Failure elimination unit, for being performed with dead band is present in the compensation error produced by the inverse compensation
Failure non-linear dynamic model in device is compensated.
7. direct adaptive control device according to claim 6, it is characterised in that direct adaptive control device is also wrapped
Include：
Definition unit, for according to the nonlinear system with unknown control coefrficientIt is fixed
Adopted actuator is input into τj(j=1,2 ..., q) export u with actuatorj(j=1,2 ..., q)；
Wherein x ∈ RnIt is state variable, y ∈ R are system output, uj(j=1,2 ..., q) represent that j-th control of system is defeated
Enter, fi(x)∈Rn(i=1,2 ..., p) and gj(x)∈Rn(j=1,2 ..., q) be unknown smooth function, θi(i=1,
2 ..., p) and bj(j=1,2 ..., q) it is unknown control coefrficient.
8. direct adaptive control device according to claim 6, it is characterised in that determining unit, specifically for according to obtaining
It is non-linear in the control system got, to being present in the dead-time voltage in j-th actuator, determine the dynamic model of actuator
It is uj=D (τj), j=1,2 ..., q；
WhereinWherein d_＜ 0, d+＞ 0, mr,mlIt is unknown constant, [d_,d+] represent
Dead band is interval, and the parameter in dead band meets mr≥mr0, ml≥ml0, wherein mr.mlIt is two normal numbers.
9. direct adaptive control device according to claim 8, it is characterised in that dead area compensation unit includes：
Inverse function subelement, for the inverse function by constructing dead bandObtain
Dynamic model subelement, the dynamic model for determining the dead-time voltage according to the inverse function isWherein, actuator input τjForComputation subunit, uses
V is input into Virtual Controller is calculatedjV is input into the inverse module of designdjBetween error beWherein
DNjTo there is dividing value, it is
10. direct adaptive control device according to claim 9, it is characterised in that inverse compensation error and Failure elimination
Unit includes：
Kinetic model subelement, it is non-linear for the failure according to present in control system, set up the nonlinear dynamic of failure
Model forρjvsj=0, j=1,2 ..., q, wherein ρj∈ [0,1), vsjAnd tiFIt is unknown normal
Number；
Inverse compensation error and Failure elimination subelement, for according to the nonlinear dynamic model of failure to being present in control system
The inverse compensation error in dead band and failure is non-linear carries out adaptive equalization.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109308008A (en) * | 2017-07-28 | 2019-02-05 | 上海三菱电梯有限公司 | Active Disturbance Rejection Control device with abnormal adaptibility to response |
| CN110687784A (en) * | 2019-09-16 | 2020-01-14 | 广东工业大学 | Self-adaptive event trigger control method for nonlinear uncertain system |
| CN110687784B (en) * | 2019-09-16 | 2022-10-04 | 广东工业大学 | Self-adaptive event trigger control method for nonlinear uncertain system |
| CN110497418A (en) * | 2019-09-25 | 2019-11-26 | 广东工业大学 | A kind of robot adaptive fuzzy control method and system |
| CN110497418B (en) * | 2019-09-25 | 2021-05-11 | 广东工业大学 | Robot self-adaptive fuzzy control method and system |
| CN112527007A (en) * | 2020-12-16 | 2021-03-19 | 广东工业大学 | Direct self-adaptive fuzzy logic control method for inhibiting wing rock caused by large attack angle |
| CN112527007B (en) * | 2020-12-16 | 2023-05-12 | 广东工业大学 | Direct self-adaptive fuzzy logic control method for inhibiting wing rock caused by large attack angle |
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