CN109870899A - A kind of photoelectric follow-up control method based on extended state observer - Google Patents
A kind of photoelectric follow-up control method based on extended state observer Download PDFInfo
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Abstract
The photoelectric follow-up control method based on extended state observer that the invention discloses a kind of, belong to electro-optical system tracing control field, by designing extended state observer, system unknown portions are defined as always to disturb and expand into a new state variable, the state variable for observing the original state of system in real time merely with the input and output of system and being expanded, add total disturbance compensation circuit, implement the design of controller using classical PD combination, finally to determine controlled system control amount in conjunction with controller output and the compensation of total disturbance estimated value, to realize that system Closed loop track controls.And ratio, differential coefficient are associated with controller bandwidth, the parameter tuning of simplified control device reduces tracking error, further promotes the Control platform and tracking performance of electro-optical tracking device.
Description
Technical field
The invention belongs to electro-optical system tracing control fields, and in particular to it is a kind of based on the photoelectricity of extended state observer with
Track system control method, extended state observer and PID controller are effectively combined, and are realized to unknown uncertain part
Estimation and compensation, reduce tracking error, the tracking performance of further lifting motion platform electro-optical tracking device.
Background technique
In photoelectric follow-up, when target enters in TV or infrared visual field, deviation of the target relative to field of view center
Angle is tracing deviation amount, and closed loop is completed using departure as error can realize the tracing control to target.In control system
Negative-feedback have certain inhibiting effect to disturbance, but its influence cannot be completely eliminated, be come effectively using which type of measure
The influence of various disturbances is eliminated, is Control System Design person's important topic to be considered always.Disturbing influence is eliminated, is being controlled
Two principles once occurred in history in engineering: (1) " absolute invariance principle " that the Soviet Union scholar forties proposes also is " bilateral
Road principle ", it is desirable to which overcoming to disturb outside influences it is necessary to measure and disturb outside, and controller must the channel containing feedback stability and inhibition simultaneously
The channel disturbed outside；(2) " internal model principle " that Canada scholar the 1970s proposes, if it is desired to a feedback control system tool
Have good trace command and offset disturbing influence ability, and it is this be to regulating error process it is stable, then anti-
Presenting must be comprising the number of the kinetic characteristics of a description external input signal command signal and disturbing signal inside control loop
Model is learned, which is exactly so-called internal model.
Since actual photoelectric follow-up is generally difficult to obtain the accurate description of model, and above two method for
The unknown disturbance of machine can not inhibit, so classical PID control is advised as most widely used control in control engineering field
Rule, is the valuable thought that classical PID leaves us for based on error concealment error, but real merely with the error signal that sensor measures
Existing PID control is not easy to meet the needs of high performance control, thus Chinese Academy of Sciences Han Jingqing researcher propose it is a kind of non-linear
Internal system is unknown uncertain and the actuating quantity of external disturbance extracting from system output information for extended state observer,
Because from the point of view of the purpose for completing control, if a certain perturbation action does not influence the controlled output of system, i.e., this disturbance from
Controlled output cannot be observed or this disturbance not can control controlled output, then being not need during control controlled output
Consider the influence of this disturbance of elimination.Need to eliminate is that disturbance that can influence controlled output, and effect just will necessarily
It is reflected in this controlled output information, so that controlled output signal may be handled in a suitable approach to estimate its effect,
Since the perturbation action for influencing controlled output can be estimated, it is possible to eliminate its influence with the method for compensation.In control work
The measure of " feedforward compensation " is usually used in journey, this is actually directly or indirectly measurement disturbance to carry out doing for " disturbance compensation "
Method.
Summary of the invention
Extended state observer (ESO) borrows shape for solving this key problem of disturbance observation in active anti-interference technology
The thought of state observer, the perturbation action that will affect controlled device output expands into new state variable, with special feedback machine
System is to establish the state expanded that can observe, the i.e. extended state observer of perturbation action.This extended state observer is simultaneously
The concrete mathematical model for generating disturbance is not depended on, disturbance can be observed by also not needing measurement, obtain estimated value.So
In a sense, extended state observer is general and practical disturbance observer.
If containing Nonlinear Dynamic, model uncertainty and external disturbance in hypothesis system, expansion shape can be used
State observer is observed and is compensated in real time to it, and total disturbance is expanded into a new state variable of system, then sharp
It is reconstructed with the input and output of system comprising the original state variable of system and the institute of always disturbance (expansion state variable) is stateful, it is real
When tracking estimation perturbation action, to eliminate its influence with the method for compensation, reduction tracking error.
But since parameter is more in nonlinear extension state observer, adjusting may be complex, it is difficult to simple and quick
Realize control target, so carry out linear simplifiation to it, by nonlinear extension state observer nonlinear function fal (e,
α, δ) linear forms are taken as, for example the form of fal (e, 1.0, δ)=e, expression are shown in the specific implementation of step (4), in this way
Extended state observer is linearized, and its parameter is associated with observer bandwidth, keeps simplifying ESO while preferable performance
Design and adjust ginseng；It is combined again using a simple PD control, and by proportionality coefficient, derivative time constant and controller bandwidth
It is associated, the adjusting of simplified control device improves Control platform.
To achieve the purpose of the present invention, the present invention provides a kind of electro-optical system tracing control based on extended state observer
Method, specific implementation step are as follows:
Step (1): CCD position sensor is installed in photoelectric tracking experiment porch, for measuring photoelectric follow-up
Angle Position amount.
Step (2): by frequency response tester can the position frequency object characteristic to platform test, input as quilt
Object input value is controlled, is exported as ccd sensor sampled value, to can get controlled device TRANSFER MODEL G (s).
Step (3): controlled device transmitting form G (s) is converted to state equation, and chooses state variable, including extracts total
Disturbance is the state variable of expansion.
Step (4): by designing linear extended state observer (ESO), system is observed using the input and output of system
Original state and the state variable expanded.
Step (5): implement the design of controller using classical PID combination, disturbance compensation circuit is added, in conjunction with control
Device output and the compensation of disturbance estimated value finally to determine controlled system control amount, realize the control of system Closed loop track.
The invention has the following advantages over the prior art:
(1) relatively traditional PID closed loop control method, the invention have been effectively combined extended state observer, have realized
It is reconstructed using the input and output of system comprising the original state variable of system and the institute of always disturbance (expansion state variable) is stateful,
Real-time tracking estimates perturbation action, to eliminate its influence with the method for compensation, reduces tracking error.
(2) invention is to optimize from control algolithm to system, no longer needs to separately add sensor, realize without speed
The control of measurement ensure that system primary characteristic, and save cost.
(3) the invention clear thinking, structure is simple, and parameter easily adjusts, and is more easily implemented in engineering, simplified control device
Adjusting improves Control platform.
Detailed description of the invention
Fig. 1 is control structure block diagram of the invention；
Fig. 2 is system state variables observation chart of the invention；
Fig. 3 is comprising Closed loop track result and tracking error figure of the invention；
Fig. 4 is not include Closed loop track result and tracking error figure of the invention.
Specific embodiment
For attached drawing and photoelectric tracking experiment porch, specific implementation step and implementation result of the invention are done
It is described in detail:
It is control structure block diagram of the invention as shown in Figure 1, r is the given input of system, and u is the input of controlled device, y
It is controlled device output.
Step (1): CCD position sensor is installed in photoelectric tracking experiment porch, for measuring photoelectric follow-up
Angle Position amount.
Step (2): by frequency response tester can the position frequency object characteristic to platform test, input as quilt
Object input value is controlled, is exported as ccd sensor sampled value, so that can get controlled device is second-order system.
Step (3): controlled device transmitting form G (s) is converted to state equation, and chooses state variable, including extracts total
Disturbance is the state variable of expansion.
Second order controlled device are as follows:
Choose x1,x2For system state variables, x1=y,U, y are the input and output of controlled device, and w (t) is outer
The state equation of the effect of disturbing, object indicates are as follows:
Wherein, f (x1,x2, w (t), t) be it is unknown, bu is known portions, by the outer performance amount f for disturbing effect in the process
(x1,x2, w (t), t) and as a new unknown state variable x3, it is added in original system, i.e., on the basis of original system state
A new state out is expanded, then former object can indicate are as follows:
Step (4): by designing linear extended state observer (ESO), system is observed using the input and output of system
Original state and the state variable expanded.
Linear extended state observer is established to the object of above-mentioned steps (3), form is as follows:
Wherein, pass through selection parameter β appropriatei> 0 (i=1,2,3), then this extended state observer can preferably be estimated
The state variable x of meter systems1,x2And the state variable x expanded3, it may be assumed that
z1→x1,z2→x2,z3→x3
Known to b or close in the case where, and the outer performance amount f (x for disturbing effect in object1,x2, w (t), t) and it is to have
Boundary, it can be realized by extended state observer to the position of controlled device, speed and unknown portions f (x1,x2,w(t),t)
Observation, as shown in Figure 2.In Practical Project control, this observer can be used and realize the control for being not necessarily to tachometric survey, and realize
To unknown uncertain and additional interference estimation.
The characteristic equation of above-mentioned linear extended state observer is available are as follows:
s3+β1s2+β2s+β3
In order to estimate the summations disturbances such as unknown uncertain and additional interference, it should Selecting All Parameters β1,β2,β3Make above-mentioned
Stable more satisfactory of characteristic equation, in general, stable characteristic equation form relatively good and that preferable transient process can be provided
For (s+ ω)3, i.e. pole is all completely coincident, then parameter beta1,β2,β3It is configured to:
β1=3 ω, β2=3 ω2,β3=ω3
It is according to the requirement determination of system bandwidth or on-line tuning as observer bandwidth omega.
Step (5): implement the design of controller using classical PID combination, disturbance compensation circuit is added, in conjunction with control
Device output and the compensation of disturbance estimated value finally to determine controlled system control amount, realize the control of system Closed loop track.
It is control structure block diagram of the invention as shown in Figure 1, extended state observer is linearized, and by its parameter and sees
It surveys device bandwidth to be associated, simplifies the design of ESO；The state variable x that representative out always disturbs is expanded in former object3By the defeated of ESO
Z out3Tracking, by z3Real-time Feedback compensation is carried out, the final control amount of controlled device is exported and then obtained in conjunction with controller
Are as follows:
Again using a simple PD control combination, controller form are as follows:
u0=kp(r-z1)-kdz2
Wherein, r is the given input of system, z1,z2For the observation state output from ESO, kp,kdRespectively ratio (P)
With the coefficient of differential (D).It is noted herein that with-kdz2Instead ofJust face carries out given input micro-
Point, system oscillation caused by given input quickly changes also is avoided, controller parameter is designed are as follows:
kp=ωc 2,kd=2 ωc
Wherein, ωcFor controller bandwidth, such PD control device parameter is uniquely associated with controller bandwidth, simplifies control
The adjusting of device processed designs.So far, entire control system needs the parameter adjusted there was only gain b, observer bandwidth omega and controller
Bandwidth omegac。
As shown in Figure 3, Figure 4, being followed successively by closed-loop system, whether there is or not the position tracking results of extended state observer and tracking to miss
Difference figure, can be apparent find out, by designing extended state observer, and realize unknown probabilistic estimation and compensation,
Tracking error can effectively be reduced, realize the control for being not necessarily to tachometric survey, simplied system structure and design and improve control product
Matter further promotes the tracking performance of electro-optical tracking device.
It elaborates above in conjunction with attached drawing and example to a specific embodiment of the invention, process and effect, but described
Content is only one embodiment of this method, cannot only limit the practical range of this method.
Claims (4)
1. a kind of photoelectric follow-up control method based on extended state observer, it is characterised in that: its specific implementation step
It is as follows:
Step (1): installing CCD position sensor in photoelectric tracking experiment porch, for measuring the angle position of photoelectric follow-up
The amount of setting；
Step (2): by frequency response tester can the position frequency object characteristic to platform test, inputting is controlled pair
It as input value, exports as ccd sensor sampled value, so that can get controlled device is second-order system；
Step (3): controlled device transmitting form G (s) is converted to state equation, and chooses state variable, including extracts total disturbance
For the state variable of expansion；
Step (4): by designing linear extended state observer (ESO), observe that system is original using the input and output of system
State and the state variable expanded；
Step (5): being implemented the design of controller using classical PID combination, add disturbance compensation circuit, defeated in conjunction with controller
Out and the compensation of disturbance estimated value finally to determine controlled system control amount, realizes the control of system Closed loop track.
2. a kind of photoelectric follow-up control method based on extended state observer according to claim 1, feature
It is: in step (3), second order controlled device are as follows:
Choose x1,x2For system state variables, x1=y,U, y are the input and output of controlled device, and w (t) is to disturb work outside
With the state equation of object indicates are as follows:
Wherein, f (x1,x2, w (t), t) be it is unknown, bu is known portions, by the outer performance amount f (x for disturbing effect in the process1,x2,w
(t), t) as a new unknown state variable x3, it is added in original system, i.e., is expanded out on the basis of original system state
One new state, then former object can indicate are as follows:
3. a kind of photoelectric follow-up control method based on extended state observer according to claim 1, feature
Be: step establishes linear extended state observer in (4), and form is as follows:
Wherein, pass through selection parameter β appropriatei> 0 (i=1,2,3), then this extended state observer can preferably estimate be
The state variable x of system1,x2And the state variable x expanded3, it may be assumed that
z1→x1,z2→x2,z3→x3
Known to b or close in the case where, and the outer performance amount f (x for disturbing effect in object1,x2, w (t), t) and it is bounded,
It can be realized by extended state observer to the position of controlled device, speed and unknown portions f (x1,x2, w (t), t) sight
It surveys, in Practical Project control, this observer can be used and realize the control for being not necessarily to tachometric survey, and realize to unknown uncertainty
With the estimation of additional interference；
The characteristic equation of above-mentioned linear extended state observer is available are as follows:
s3+β1s2+β2s+β3
In order to estimate the summations disturbances such as unknown uncertain and additional interference, it should Selecting All Parameters β1,β2,β3Make features described above
Stable more satisfactory of equation, stable characteristic equation form that is relatively good and can providing preferable transient process are (s+ ω)3, i.e.,
Pole is all completely coincident, then parameter beta1,β2,β3It is configured to:
β1=3 ω, β2=3 ω2,β3=ω3
It is according to the requirement determination of system bandwidth or on-line tuning as observer bandwidth omega.
4. a kind of photoelectric follow-up control method based on extended state observer according to claim 1, feature
Be: step linearizes extended state observer in (5), and its parameter is associated with observer bandwidth, simplifies setting for ESO
Meter；The state variable x that representative out always disturbs is expanded in former object3By the z of the output of ESO3Tracking, by z3It carries out real-time
Feedback compensation exports in conjunction with controller and then obtains the final control amount of controlled device are as follows:
Again using a simple PD control combination, controller form are as follows:
u0=kp(r-z1)-kdz2
Wherein, r is the given input of system, z1,z2For the observation state output from ESO, kp,kdRespectively ratio (P) with it is micro-
The coefficient for dividing (D), with-kdz2Instead ofJust face carries out differential to given input, and it is fast also to avoid given input
System oscillation caused by speed changes designs controller parameter are as follows:
kp=ωc 2,kd=2 ωc
Wherein, ωcFor controller bandwidth, such PD control device parameter is uniquely associated with controller bandwidth, simplifies controller
Adjusting design, so far, entire control system needs the parameter adjusted there was only gain b, observer bandwidth omega and controller bandwidth
ωc。
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| CN110597064A (en) * | 2019-09-24 | 2019-12-20 | 燕山大学 | Active suspension output feedback control method based on nonlinear and uncertain models |
| CN110687781A (en) * | 2019-11-01 | 2020-01-14 | 大连海事大学 | Accurate uncertainty and control gain estimation method of second-order nonlinear system |
| CN110687783A (en) * | 2019-09-10 | 2020-01-14 | 中国航空工业集团公司洛阳电光设备研究所 | Disturbance observation and compensation method for airborne photoelectric stable platform |
| CN111736470A (en) * | 2020-06-24 | 2020-10-02 | 中国北方车辆研究所 | Control method using disturbance observer to replace feedforward |
| CN112180834A (en) * | 2020-10-12 | 2021-01-05 | 上海维宏电子科技股份有限公司 | Method for realizing improved active disturbance rejection based on linear extended state observer and laser cutting follow-up control device |
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| CN112987555A (en) * | 2019-12-12 | 2021-06-18 | 天津大学 | Composite anti-interference track tracking control algorithm for retreating process of unmanned rolling machine |
| CN113189872A (en) * | 2021-04-14 | 2021-07-30 | 中国科学院光电技术研究所 | Photoelectric tracking system control method based on improved repetitive active-disturbance-rejection |
| CN113359872A (en) * | 2021-07-02 | 2021-09-07 | 江苏科技大学 | Control method for shipborne photoelectric tracking platform |
| CN113359415A (en) * | 2021-06-02 | 2021-09-07 | 中国科学院光电技术研究所 | Novel disturbance observation compensation controller and implementation method thereof |
| CN115291524A (en) * | 2022-09-02 | 2022-11-04 | 广东美的智能科技有限公司 | Motion control system, interference control method, and interference observation device |
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| CN111736470A (en) * | 2020-06-24 | 2020-10-02 | 中国北方车辆研究所 | Control method using disturbance observer to replace feedforward |
| CN111736470B (en) * | 2020-06-24 | 2022-04-29 | 中国北方车辆研究所 | Control method using disturbance observer to replace feedforward |
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| CN112684695A (en) * | 2020-12-08 | 2021-04-20 | 配天机器人技术有限公司 | Control system, method, equipment and storage medium for mechanical arm joint |
| CN113189872A (en) * | 2021-04-14 | 2021-07-30 | 中国科学院光电技术研究所 | Photoelectric tracking system control method based on improved repetitive active-disturbance-rejection |
| CN113359415A (en) * | 2021-06-02 | 2021-09-07 | 中国科学院光电技术研究所 | Novel disturbance observation compensation controller and implementation method thereof |
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