CN109407645A - Obtain the method and system of control system state variable - Google Patents
Obtain the method and system of control system state variable Download PDFInfo
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Abstract
The present invention proposes a kind of method and system for obtaining control system state variable, method includes the following steps: the first input quantity and the first output quantity of acquisition control system are as input data；Input data is input in preset omnidirectional vision, corresponding second output quantity of omnidirectional vision is obtained；Obtain the output error of the first output quantity and the second output quantity；Objective function is constructed according to output error；The optimal solution of objective function is obtained, and determines the feedback matrix of omnidirectional vision according to optimal solution；The second input quantity and third input quantity of acquisition control system, and the second input quantity and third input quantity are input in omnidirectional vision, obtain the state variable of control system.The present invention constructs omnidirectional vision using objective function, and all state variables of control system are obtained by omnidirectional vision, so as to carry out state feedback using the state variable of control system, and then can be improved the control ability of control system.
Description
Technical field
The present invention relates to technical field of system control, in particular to a kind of method for obtaining control system state variable and it is
System.
Background technique
In classical control theory and modern control theory, feedback is all very important the design method of control system.
Since classical control theory is described with transmission function, so it can only be using output quantity as feedback quantity.But existing
For in control theory, describing the physical characteristic of system due to the state variable using internal system, thus in addition to output is fed back
Outside, also frequent adoption status feedback.It is compared with output feedback, state feedback can provide more control informations, thus formed
Optimal control law suppresses or eliminates disturbing influence, realizes system decoupling control etc., and state feedback obtains extensive
Using.
It is fed back using state, it is necessary to which with sensor come measuring state variable, but not all state variable exists
Physically can all survey and be not easy to measure in other words, the reason is that: (1) frequency band of actual sensor be limited (cannot completely with
Track state)；(2) state of system is not actual physical quantity sometimes.This leads to the whole states that can not actually obtain system
Variable, so that becoming the physics realization of state feedback can not.
Summary of the invention
The present invention is directed at least solve one of above-mentioned technical problem.
For this purpose, an object of the present invention is to provide a kind of method for obtaining control system state variable, this method benefit
Omnidirectional vision is constructed with objective function, all state variables of control system are obtained by omnidirectional vision, from
And the state variable that can use control system carries out state feedback, and then can be improved the control ability of control system.
It is another object of the present invention to propose a kind of system for obtaining control system state variable.
To achieve the goals above, the embodiment of first aspect present invention proposes a kind of acquisition control system state variable
Method, comprising the following steps: the first input quantity and the first output quantity for acquiring the control system are as input data；By institute
It states input data to be input in preset omnidirectional vision, obtains corresponding second output of the omnidirectional vision
Amount；Obtain the output error of first output quantity and second output quantity；Objective function is constructed according to the output error；
The optimal solution of the objective function is obtained, and determines the feedback matrix of the omnidirectional vision according to the optimal solution；It adopts
Collect the second input quantity and third input quantity of the control system, and second input quantity and third input quantity are input to institute
It states in omnidirectional vision, obtains the state variable of the control system.
The method according to an embodiment of the present invention for obtaining control system state variable constructs full dimension state using objective function
Observer obtains all state variables of control system by omnidirectional vision, so as to utilize the shape of control system
State variable carries out state feedback, has the optimization using control system, improves the control ability of control system.
In addition, the method according to the above embodiment of the present invention for obtaining control system state variable can also have it is following attached
The technical characteristic added:
In some instances, described that objective function is constructed according to the output error, further comprise: obtaining the output
Accidentally absolute value of the difference；Multiply time integral index according to the absolute value of the output error and obtains the objective function.
In some instances, the objective function is obtained by following formula:
Wherein, f (t) is the objective function, yiIt (t) is first output quantity,For second output quantity, t
For time, q representation dimension.
In some instances, the optimal solution of the objective function is obtained, and the Quan Weizhuan is determined according to the optimal solution
The feedback matrix of state observer further comprises: being optimized according to preset optimization algorithm to the objective function described in making
Objective function reaches minimum value, to obtain the feedback matrix of the omnidirectional vision.
In some instances, the preset optimization algorithm is genetic algorithm, simulated annealing and particle swarm algorithm or more intelligence
It can body genetic algorithm.
To achieve the goals above, the embodiment of second aspect of the present invention proposes a kind of acquisition control system state variable
System, comprising: acquisition module, for acquire the control system the first input quantity and the first output quantity as input number
According to；First acquisition module obtains the Quan Weizhuan for the input data to be input in preset omnidirectional vision
Corresponding second output quantity of state observer；Second obtains module, for obtaining first output quantity and second output quantity
Output error；Module is constructed, for constructing objective function according to the output error；Computing module, for obtaining the mesh
The optimal solution of scalar functions, and determine according to the optimal solution feedback matrix of the omnidirectional vision；Third obtains module,
For acquiring the second input quantity and third input quantity of the control system, and second input quantity and third input quantity is defeated
Enter into the omnidirectional vision, obtains the state variable of the control system.
The system according to an embodiment of the present invention for obtaining control system state variable constructs full dimension state using objective function
Observer obtains all state variables of control system by omnidirectional vision, so as to utilize the shape of control system
State variable carries out state feedback, has the optimization using control system, improves the control ability of control system.
In addition, the system according to the above embodiment of the present invention for obtaining control system state variable can also have it is following attached
The technical characteristic added:
In some instances, the building module is used to obtain the absolute value of the output error, and according to the output
Mistake absolute value of the difference multiplies time integral index and obtains the objective function.
In some instances, the objective function is obtained by following formula:
Wherein, f (t) is the objective function, yiIt (t) is first output quantity,For second output quantity, t
For time, q representation dimension.
In some instances, the computing module is for optimizing the objective function according to preset optimization algorithm
The objective function is set to reach minimum value, to obtain the feedback matrix of the omnidirectional vision.
In some instances, the preset optimization algorithm is genetic algorithm, simulated annealing and particle swarm algorithm or more intelligence
It can body genetic algorithm.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow chart according to the method for the acquisition control system state variable of an embodiment of the present invention；
The state error schematic diagram of Fig. 2 control system according to an embodiment of the invention and omnidirectional vision；
Fig. 3 is the structural block diagram of the system according to an embodiment of the invention for obtaining control system state variable.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply opposite
Importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
The method and system according to an embodiment of the present invention for obtaining control system state variable are described below in conjunction with attached drawing.
Fig. 1 is the flow chart of the method according to an embodiment of the invention for obtaining control system state variable.Such as Fig. 1 institute
Show, method includes the following steps:
Step S1: the first input quantity and the first output quantity of acquisition control system are as input data.
Step S2: input data is input in preset omnidirectional vision, and it is corresponding to obtain omnidirectional vision
The second output quantity.
Step S3: the output error of the first output quantity and the second output quantity is obtained.
Step S4: objective function is constructed according to output error.
Specifically, preset omnidirectional vision constructs in advance, its object is to be convenient for observation-well network
State variable.Specifically, the dynamical equation for the control system being observed is for example are as follows:
The dynamical equation of omnidirectional vision is for example are as follows:
Wherein, if the dimension of input u is p, the dimension for exporting y is q, and state variable x is n dimension, and A is n × n times, and B is n × p
Battle array, C are q × n times, and feedback gain matrix L is n × q type.
Then (2) formula can be converted following expression:
Further, by (1) formula and (3) Shi Ke get:
(A-LC) is known as the feedback matrix of omnidirectional vision in formula.
In an embodiment of the present invention, the first input quantity and the first output quantity of acquisition control system first, will collect
The first input quantity and the second output quantity be input in the omnidirectional vision of building, by the processing of omnidirectional vision
Second output quantity of available omnidirectional vision afterwards.
Can the key of omnidirectional vision analysis design is under any primary condition, although that is,With x (t0)
Difference, but total energy guaranteesIt sets up.When the output quantity of omnidirectional vision constantly approaches control system
When the output of system, then the state variable that omnidirectional vision obtains will constantly approach the virtual condition variable of control system.
Therefore, the output error between available first output quantity and the second output quantity is maintained using output error by the output
It constructs an objective function, the feedback matrix of omnidirectional vision is determined by objective function.Wherein, output error
Expression formula are as follows:
As specific example, after getting output error, error intergal index can be formed based on the output error,
Common error intergal index includes following several:
1) integrated square error index ISE:
Wherein, e (t) indicates the deviation of the first output quantity and the second output quantity, and t is the time.In control engineering field, accidentally
Poor integrated square index ISE represents the evaluation using energy consumption as system performance.It is designed based on integrated square error index ISE
Control system usually have the characteristics that faster response speed, but biggish oscillatory, relative stability in transient process
Difference.
(2) Error Absolute Value integrates index IAE:
Wherein, e (t) indicates the deviation of the first output quantity and the second output quantity, and t is the time；| e (t) | indicate the exhausted of e (t)
To value.Control system based on Error Absolute Value integral index IAE design has damping appropriate and good transient response
Feature.But when the parameter of control system changes, Error Absolute Value integral index IAE but reflects control system
Parameters variation situation.
(3) square-error multiplies time integral index ITSE:
Wherein, e (t) indicates the deviation of the first output quantity and the second output quantity, and t is the time.Between being taken the opportunity based on square-error
The characteristics of control system of integral index ITSE design is the error for considering the appearance of transient response later period emphatically, less consideration response
In big initial error.
(4) Error Absolute Value multiplies time integral index ITAE:
Wherein, e (t) indicates the deviation of the first output quantity and the second output quantity, and t is the time；| e (t) | indicate the exhausted of e (t)
To value.The control system for multiplying time integral index ITAE design based on Error Absolute Value has the oscillatory of transient response small, and
The characteristics of parameter is had good selectivity.
In one embodiment of the invention, it needs within the time short as early as possible, can observe control system and Quan Wei
The output error of state observer is zero, can thus realize the state variable of omnidirectional vision as early as possible and be observed
The equivalent of the state variable of control system.And ITAE performance indicator is small with the oscillatory of transient response, and has to parameter
There is good selective advantage to be widely used, so selecting Error Absolute Value to multiply time integral index ITAE carrys out structure
Build objective function.Based on this, in one embodiment of the invention, objective function is constructed according to output error, specifically includes: obtaining
Take the absolute value of output error；Multiply time integral index according to the absolute value of output error and obtains objective function.More specifically,
The expression formula of objective function is specific as follows:
Wherein, f (t) is objective function, yiIt (t) is the first output quantity,For the second output quantity, t is the time, and q is indicated
Dimension.
Step S5: obtaining the optimal solution of objective function, and the feedback matrix of omnidirectional vision is determined according to optimal solution.
In one embodiment of the invention, the optimal solution of objective function is obtained, and full dimension state is determined according to optimal solution
The feedback matrix of observer, specifically includes: being optimized according to preset optimization algorithm to objective function reaches objective function
Minimum value, to obtain the feedback matrix of omnidirectional vision.More specifically, preset optimization algorithm is genetic algorithm, mould
Quasi- annealing and particle swarm algorithm or multi-Agent Genetic Algorithm.
Specifically, i.e. after getting objective function, can using using preset optimization algorithm to objective function into
Row optimization, so that objective function is optimal, the feedback matrix of available omnidirectional vision at this time.Preset optimization is calculated
Method may include genetic algorithm, simulated annealing and particle swarm algorithm and multi-Agent Genetic Algorithm.
Due to more intelligent Genetic Algorithms by intelligent body to the perception of environment and the searcher of reaction ability and genetic algorithm
When formula combines, while there is the good robustness of genetic algorithm, versatility and the independence of intelligent body, distributivity make algorithm
It is able to maintain the diversity of population, compensates for the deficiency of genetic algorithm, it is suppressed that precocious phenomenon can obtain optimization problem
The solution of high quality, therefore, in a preferred embodiment of the invention, preset optimization algorithm can choose more intelligent Genetic Algorithms.
The basic thought of multi-Agent Genetic Algorithm is: by each of genetic algorithm individual (or chromosome) as having
The intelligent body of the coordination ability, each intelligent body have certain energy and behavior, and a certain number of intelligent bodies constitute one initially
Population, and survive in a certain subspace in entire solution space.K such subspaces are co-existed in entire space.It is logical
The processes such as selection, intersection, the variation crossed between multi-agent system Personal realize the evolution of every generation, complete each kind
The replacement of group and the movement of each sub-spaces.K sub-spaces are ultimately formed jointly towards the evolution in optimal solution direction, k son
Space is relatively concentrated in a certain region in entire solution space, it might even be possible to be completely coincident.In the concentration zones of this k sub-spaces
Domain, so that the solution of the minimization of object function is exactly globally optimal solution.
After the minimum value for obtaining objective function to objective function optimization, so that it may determine the anti-of the omnidirectional vision
Present matrix.
Step S6: the second input quantity and third input quantity of acquisition control system, and the second input quantity and third are inputted
Amount is input in omnidirectional vision, obtains the state variable of control system.
Specifically, i.e. after the feedback matrix of omnidirectional vision has been determined, so that it may utilize the full dimension State Viewpoint
It surveys device to be observed the state variable of control system, to get the state variable of control system, using state variable to control
System processed carries out state feedback.It specifically includes: by the second input quantity and third output quantity of control system, being input to full dimension state
In observer, omnidirectional vision can be observed the state variable of control system, and the state for obtaining control system becomes
Amount.
As specific example, such as shown in Fig. 2, illustrates control system and the state error of full dimension state observation shows
Meaning.By can visually see in Fig. 2, since original state is not zero, so the state x of full micr oprocessorism1And x3In 0~2s
Between, state x2Between 0~4s, full micr oprocessorism system is unable to tracking control system, there is error therebetween.But
It is all state errors after 4s, e1,e2,e3, that is to say, that after this time, full micr oprocessorism can perfect tracking arrive
The state of control system.
To sum up, the method according to an embodiment of the present invention for obtaining control system state variable is constructed complete using objective function
State observer is tieed up, all state variables of control system are obtained by omnidirectional vision, so as to utilize control system
The state variable of system carries out state feedback, has the optimization using control system, improves the control ability of control system.Further
Ground, this method construct objective function using control system and the output error of omnidirectional vision, take intelligent body and lose
The multi-Agent Genetic Algorithm that propagation algorithm combines optimizes objective function to design omnidirectional vision, improves complete
The accuracy of the observation of state observer is tieed up, to avoid POLE PLACEMENT USING and pole brought by Silvester equation can be solved
Selection have very big arbitrariness defect.
Further embodiment of the present invention also proposed a kind of system for obtaining control system state variable.
Fig. 3 is the structural block diagram of the system according to an embodiment of the invention for obtaining control system state variable.Such as Fig. 3
Shown, the system 100 of the acquisition control system state variable includes: that acquisition module 110, first obtains the acquisition of module 120, second
Module 130, building module 140, computing module 150 and third obtain module 160.
Wherein, acquisition module 110 is for the first input quantity of acquisition control system and the first output quantity as input data.
First acquisition module 120 obtains Quan Weizhuan for input data to be input in preset omnidirectional vision
Corresponding second output quantity of state observer.
Second acquisition module 130 is used to obtain the output error of the first output quantity and the second output quantity.
Module 140 is constructed to be used to construct objective function according to output error.
Specifically, preset omnidirectional vision constructs in advance, its object is to be convenient for observation-well network
State variable.Specifically, the dynamical equation for the control system being observed is for example are as follows:
The dynamical equation of omnidirectional vision is for example are as follows:
Wherein, if the dimension of input u is p, the dimension for exporting y is q, and state variable x is n dimension, and A is n × n times, and B is n × p
Battle array, C are q × n times, and feedback gain matrix L is n × q type.
Then (2) formula can be converted following expression:
Further, by (1) formula and (3) Shi Ke get:
(A-LC) is known as the feedback matrix of omnidirectional vision in formula.
In an embodiment of the present invention, the first input quantity and the first output quantity for passing through acquisition control system first, will adopt
The first input quantity and the second output quantity collected is input in the omnidirectional vision of building, by omnidirectional vision
Second output quantity of available omnidirectional vision after processing.
Can the key of omnidirectional vision analysis design is under any primary condition, although that is,With x (t0)
Difference, but total energy guaranteesIt sets up.When the output quantity of omnidirectional vision constantly approaches control system
When the output of system, then the state variable that omnidirectional vision obtains will constantly approach the virtual condition variable of control system.
Therefore, the output error between available first output quantity and the second output quantity is maintained using output error by the output
It constructs an objective function, the feedback matrix of omnidirectional vision is determined by objective function.Wherein, output error
Expression formula are as follows:
As specific example, after getting output error, error intergal index can be formed based on the output error,
Common error intergal index includes following several:
1) integrated square error index ISE:
Wherein, e (t) indicates the deviation of the first output quantity and the second output quantity, and t is the time.In control engineering field, accidentally
Poor integrated square index ISE represents the evaluation using energy consumption as system performance.It is designed based on integrated square error index ISE
Control system usually have the characteristics that faster response speed, but biggish oscillatory, relative stability in transient process
Difference.
(2) Error Absolute Value integrates index IAE:
Wherein, e (t) indicates the deviation of the first output quantity and the second output quantity, and t is the time；| e (t) | indicate the exhausted of e (t)
To value.Control system based on Error Absolute Value integral index IAE design has damping appropriate and good transient response
Feature.But when the parameter of control system changes, Error Absolute Value integral index IAE but reflects control system
Parameters variation situation.
(3) square-error multiplies time integral index ITSE:
Wherein, e (t) indicates the deviation of the first output quantity and the second output quantity, and t is the time.Between being taken the opportunity based on square-error
The characteristics of control system of integral index ITSE design is the error for considering the appearance of transient response later period emphatically, less consideration response
In big initial error.
(4) Error Absolute Value multiplies time integral index ITAE:
Wherein, e (t) indicates the deviation of the first output quantity and the second output quantity, and t is the time；| e (t) | indicate the exhausted of e (t)
To value.The control system for multiplying time integral index ITAE design based on Error Absolute Value has the oscillatory of transient response small, and
The characteristics of parameter is had good selectivity.
In one embodiment of the invention, it needs within the time short as early as possible, can observe control system and Quan Wei
The output error of state observer is zero, can thus realize the state variable of omnidirectional vision as early as possible and be observed
The equivalent of the state variable of control system.And ITAE performance indicator is small with the oscillatory of transient response, and has to parameter
There is good selective advantage to be widely used, so selecting Error Absolute Value to multiply time integral index ITAE carrys out structure
Build objective function.Based on this, in one embodiment of the invention, building module 140 constructs objective function according to output error,
It specifically includes: obtaining the absolute value of output error；Multiply time integral index according to the absolute value of output error and obtains objective function.
More specifically, the expression formula of objective function is specific as follows:
Wherein, f (t) is objective function, yiIt (t) is the first output quantity,For the second output quantity, t is the time, and q is indicated
Dimension.
Computing module 150 is used to obtain the optimal solution of objective function, and determines omnidirectional vision according to optimal solution
Feedback matrix.
In one embodiment of the invention, computing module 150 obtains the optimal solution of objective function, and true according to optimal solution
The feedback matrix for determining omnidirectional vision, specifically includes: being optimized according to preset optimization algorithm to objective function makes mesh
Scalar functions reach minimum value, to obtain the feedback matrix of omnidirectional vision.More specifically, preset optimization algorithm is to lose
Propagation algorithm, simulated annealing and particle swarm algorithm or multi-Agent Genetic Algorithm.
Specifically, i.e. after getting objective function, can using using preset optimization algorithm to objective function into
Row optimization, so that objective function is optimal, the feedback matrix of available omnidirectional vision at this time.Preset optimization is calculated
Method may include genetic algorithm, simulated annealing and particle swarm algorithm and multi-Agent Genetic Algorithm.
Due to more intelligent Genetic Algorithms by intelligent body to the perception of environment and the searcher of reaction ability and genetic algorithm
When formula combines, while there is the good robustness of genetic algorithm, versatility and the independence of intelligent body, distributivity make algorithm
It is able to maintain the diversity of population, compensates for the deficiency of genetic algorithm, it is suppressed that precocious phenomenon can obtain optimization problem
The solution of high quality, therefore, in a preferred embodiment of the invention, preset optimization algorithm can choose more intelligent Genetic Algorithms.
The basic thought of multi-Agent Genetic Algorithm is: by each of genetic algorithm individual (or chromosome) as having
The intelligent body of the coordination ability, each intelligent body have certain energy and behavior, and a certain number of intelligent bodies constitute one initially
Population, and survive in a certain subspace in entire solution space.K such subspaces are co-existed in entire space.It is logical
The processes such as selection, intersection, the variation crossed between multi-agent system Personal realize the evolution of every generation, complete each kind
The replacement of group and the movement of each sub-spaces.K sub-spaces are ultimately formed jointly towards the evolution in optimal solution direction, k son
Space is relatively concentrated in a certain region in entire solution space, it might even be possible to be completely coincident.In the concentration zones of this k sub-spaces
Domain, so that the solution of the minimization of object function is exactly globally optimal solution.
After the minimum value for obtaining objective function to objective function optimization, so that it may determine the anti-of the omnidirectional vision
Present matrix.
Third obtains the second input quantity and third input quantity that module 160 is used for acquisition control system, and second is inputted
Amount and third input quantity are input in omnidirectional vision, obtain the state variable of control system.
Specifically, i.e. after the feedback matrix of omnidirectional vision has been determined, so that it may utilize the full dimension State Viewpoint
It surveys device to be observed the state variable of control system, to get the state variable of control system, using state variable to control
System processed carries out state feedback.It specifically includes: by the second input quantity and third output quantity of control system, being input to full dimension state
In observer, omnidirectional vision can be observed the state variable of control system, and the state for obtaining control system becomes
Amount.
It should be noted that the specific implementation of the system of the acquisition control system state variable of the embodiment of the present invention with
The specific implementation of the method for the acquisition control system state variable of the embodiment of the present invention is similar, specifically refers to method part
Description, in order to reduce redundancy, details are not described herein again.
The system according to an embodiment of the present invention for obtaining control system state variable constructs full dimension state using objective function
Observer obtains all state variables of control system by omnidirectional vision, so as to utilize the shape of control system
State variable carries out state feedback, has the optimization using control system, improves the control ability of control system.Further, should
System constructs objective function using control system and the output error of omnidirectional vision, takes intelligent body and genetic algorithm
The multi-Agent Genetic Algorithm combined optimizes objective function to design omnidirectional vision, improves full dimension state
The accuracy of the observation of observer, can be to avoid the selection of pole brought by POLE PLACEMENT USING and solution Silvester equation
Defect with very big arbitrariness.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is by claim and its equivalent limits.
Claims (10)
1. a kind of method for obtaining control system state variable, which comprises the following steps:
The first input quantity and the first output quantity for acquiring the control system are as input data；
The input data is input in preset omnidirectional vision, the omnidirectional vision corresponding is obtained
Two output quantities；
Obtain the output error of first output quantity and second output quantity；
Objective function is constructed according to the output error；
The optimal solution of the objective function is obtained, and determines the feedback square of the omnidirectional vision according to the optimal solution
Battle array；
The second input quantity and third input quantity of the control system are acquired, and second input quantity and third input quantity is defeated
Enter into the omnidirectional vision, obtains the state variable of the control system.
2. the method according to claim 1 for obtaining control system state variable, which is characterized in that described according to described defeated
Error constructs objective function out, further comprises:
Obtain the absolute value of the output error；
Multiply time integral index according to the absolute value of the output error and obtains the objective function.
3. the method according to claim 2 for obtaining control system state variable, which is characterized in that the objective function is logical
Following formula is crossed to obtain:
Wherein, f (t) is the objective function, yiIt (t) is first output quantity,For second output quantity, when t is
Between, q representation dimension.
4. the method according to claim 1 for obtaining control system state variable, which is characterized in that obtain the target letter
Several optimal solutions, and determine according to the optimal solution feedback matrix of the omnidirectional vision, further comprise:
Being optimized according to preset optimization algorithm to the objective function makes the objective function reach minimum value, to obtain
State the feedback matrix of omnidirectional vision.
5. the method according to claim 4 for obtaining control system state variable, which is characterized in that the preset optimization
Algorithm is genetic algorithm, simulated annealing and particle swarm algorithm or multi-Agent Genetic Algorithm.
6. a kind of system for obtaining control system state variable characterized by comprising
Acquisition module (110), the first input quantity and the first output quantity for acquiring the control system are as input data；
First obtains module (120), for the input data to be input in preset omnidirectional vision, obtains described
Corresponding second output quantity of omnidirectional vision；
Second obtains module (130), for obtaining the output error of first output quantity and second output quantity；
It constructs module (140), for constructing objective function according to the output error；
Computing module (150) determines the Quan Weizhuan for obtaining the optimal solution of the objective function, and according to the optimal solution
The feedback matrix of state observer；
Third obtains module (160), for acquiring the second input quantity and third input quantity of the control system, and by described the
Two input quantities and third input quantity are input in the omnidirectional vision, obtain the state variable of the control system.
7. the system according to claim 6 for obtaining control system state variable, which is characterized in that the building module
(140) for obtaining the absolute value of the output error, and time integral index is multiplied according to the absolute value of the output error and is obtained
To the objective function.
8. the system according to claim 7 for obtaining control system state variable, which is characterized in that the objective function is logical
Following formula is crossed to obtain:
Wherein, f (t) is the objective function, yiIt (t) is first output quantity,For second output quantity, when t is
Between, q representation dimension.
9. the system according to claim 6 for obtaining control system state variable, which is characterized in that the computing module
(150) objective function is made to reach minimum value for being optimized according to preset optimization algorithm to the objective function, with
Obtain the feedback matrix of the omnidirectional vision.
10. the system according to claim 9 for obtaining control system state variable, which is characterized in that described preset excellent
Change algorithm is genetic algorithm, simulated annealing and particle swarm algorithm or multi-Agent Genetic Algorithm.
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