CN113703397B - Industrial internet multi-axis motion-oriented IEID synchronous control method - Google Patents
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Abstract
The invention relates to the field of motion control of industrial Internet of things, and provides an IEID synchronous control method for industrial Internet multi-axis motion, which comprises the following steps: constructing an initial state space model of the initial multi-axis motion system, and acquiring composite disturbance of the initial state space model; modifying an initial estimator of an initial state space model through composite disturbance to obtain an equivalent input interference estimator, and obtaining a filtered equivalent input interference vector through the equivalent input interference estimator; modifying the initial synchronous controller of the initial state space model through the equivalent input interference vector after filtering to obtain an equivalent input interference synchronous controller; and constructing an equivalent input interference multi-axis motion synchronous control system by an equivalent input interference estimator and an equivalent input interference synchronous controller. The invention can effectively process the influence of the complex disturbance formed by the uncertainty caused by network induction and the disturbance of external load and the like on the system, and obviously improves the flexibility, the complex disturbance processing and inhibiting capability, the rapidity and the control precision of the system.
Description
Technical Field
The invention relates to the field of motion control of industrial Internet of things, in particular to an IEID synchronous control method for industrial Internet multi-axis motion.
Background
In modern intelligent manufacturing industry, multi-axis motion control has been a research hotspot in the field of motion control, wherein synchronous control is one of the core technologies. However, due to the requirement of complex device functions in an industrial application scene, external load and other disturbances have matching and mismatching conditions, which have significant influence on system performance, and the problem of synchronization control accuracy of the system cannot be effectively solved only from the viewpoint of suppression and elimination of the matching external load and other disturbances. Therefore, effective methods for dealing with disturbances such as matching and mismatching external loads must be employed to improve the control performance and production quality of such systems.
Meanwhile, with the rapid development of the industrial internet of things technology, a multi-axis motion system is developing towards networking, high speed and high precision. The network is introduced into the multi-axis motion system, and data communication is carried out between the controller and each subsystem through the network, so that the data transmission rate and reliability between the controller and each subsystem are improved, the system wiring is greatly reduced, and the system expansion capability is enhanced. However, the introduction of the network inevitably brings new problems, such as uncertainty of system security caused by network induction and network attack, etc. Particularly, a writer designs a networked multi-axis motion position synchronous control scheme based on an active disturbance rejection controller aiming at the networked multi-axis motion synchronous control problem, so that a good time delay compensation effect is obtained; and a networked multi-axis motion position synchronous control scheme based on a generalized extended state observer is designed aiming at the problem of synchronous control of a networked large-correlation motion system, so that good decoupling synchronous control performance is obtained. However, how to effectively process a composite disturbance formed by multiple disturbances, wherein the composite disturbance comprises uncertainties caused by network induction and disturbances such as external loads, and the disturbances such as the external loads comprise matching and mismatching disturbances; and the flexibility, the complex disturbance processing and inhibiting capability, the rapidity and the control precision of the networked multi-axis motion system with the composite disturbance are improved, and a good solution is not provided at present.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to solve the technical problem that the influence of composite disturbance formed by multiple disturbances on a multi-axis motion system cannot be effectively processed in the prior art.
In order to achieve the above object, the present invention provides an IEID synchronization control method for industrial internet multi-axis motion, which includes:
s1: constructing an initial state space model of an initial multi-axis motion system, and acquiring composite disturbance of the initial state space model;
s2: modifying the initial estimator of the initial state space model through the composite disturbance to obtain an equivalent input interference estimator, and obtaining a filtered equivalent input interference vector through the equivalent input interference estimator
S3: by said filtered equivalent input interference vectorModifying the initial synchronous controller of the initial state space model to obtain an equivalent input interference synchronous controller;
s4: and constructing an equivalent input interference multi-axis motion synchronous control system by the equivalent input interference estimator and the equivalent input interference synchronous controller.
Preferably, in step S1, the composite disturbance includes: network interference and external load disturbance;
the initial state space model comprises: m subsystems, an initial estimator and an initial synchronization controller, wherein m is a positive integer greater than 0;
the expression of the initial state space model is shown as formula one:
wherein x is i (t) is the state vector of the ith subsystem,is x i Differential of (t), u i (t) is the control input of the ith subsystem, u i (t- τ) is the control input for the ith subsystem in the presence of network inducement, y i (t) is the output of the i-th subsystem, d τi (t) network interference of the i-th subsystem, d i (t) external load disturbance of the ith subsystem, A i 、B i 、C i And B di Is a system matrix of the i-th subsystem and B di Is a full rank matrix; wherein i represents the number of the subsystem, and i is more than 0 and less than or equal to m;
preferably, step S2 is specifically:
s21: obtaining the equivalent input interference vector d of the ith subsystem ei (t) an equivalent input interference vector d through said i-th subsystem ei (t) the aboveNetwork interference d of i-th subsystem τi (t) and an external load disturbance d of the i-th subsystem i (t) modifying the ith subsystem to obtain a modified ith subsystem, wherein the expression is shown as a formula two:
s22: constructing an ith subsystem full-order observer through the modified ith subsystem;
s23: an equivalent input interference vector d of the ith subsystem through the ith subsystem full-order observer ei (t) modifying to obtain the equivalent input interference vector of the i-th subsystem after modification
S24: construction of the Filter F i (s) inputting the modified equivalent interference vector of the i-th subsystemInput the filter F i (s) obtaining a filtered equivalent input interference vector for the ith subsystem
S25: repeating the steps S21-S25 for m times to obtain equivalent input interference vectors of all the filtered subsystems, and calculating the equivalent input interference vectors of all the filtered subsystems to obtain the equivalent input interference vectors
S26: constructing the equivalent input disturbance estimator from the modified i-th subsystem and the subsystem full-order observer.
Preferably, in step S22, the expression of the i-th subsystem full-order observer is as shown in formula three:
wherein L is i Is the gain matrix of the i-th subsystem full-order observer, u fi (t) is the input to the ith subsystem full order observer,is the state vector x of the ith subsystem i (ii) an estimate of the value of (t),is the output quantity y of the ith subsystem i (t) an estimated value.
Preferably, step S23 is specifically:
s233: and calculating to obtain a formula six according to a formula two and a formula five:
s234: the modified equivalent input interference vector of the i-th subsystem is variable as formula seven:
preferably, step S24 is specifically:
s241: constructing the filter F i The expression of(s) is as follows:
wherein, T fi Is a time constant, T fi <1/(εω fi ) Epsilon is more than or equal to 1 and less than or equal to 10; alpha, beta and gamma are adjustable proportional attenuation coefficients respectively; omega fi Is the highest angular frequency, and F i (s) satisfies | F i (jω i )|≈1,
S242: the modified equivalent input interference vector of the ith subsystemThe following formula is input for calculation:
wherein, the first and the second end of the pipe are connected with each other,as equivalent input interference vector of i-th filtered subsystemThe laplace transform of (a) is performed,for the modified equivalent input interference vector of the i-th subsystemIs performed by the laplace transform.
Preferably, in step S3, the expression of the equivalent input disturbance synchronization controller is as follows:
wherein r is 0 (t) is a reference signal, x i1 (t) status of i-th subsystem, e i (t) is the ith subsystem tracking error, e (t) is the error vector,is the differential of e (t), K is the control gain matrix, Γ is the synchronization matrix, δ n/μ Is a synchronous coupling factor, eta, mu, rho and theta are natural positive integers for quick adjustment,and u (t) is the equivalent input interference vector after filtering, and u (t) is the synchronous control input quantity.
The invention has the following beneficial effects:
1. by designing an equivalent input interference estimator, the method adapts to composite disturbance formed by signal disturbances of different types, and realizes a good estimation effect of the composite disturbance;
2. by designing the equivalent input interference synchronous controller, the industrial internet multi-axis motion system with composite disturbance is ensured to have good flexibility and complex disturbance processing and inhibiting capability, and good high-speed high-precision synchronous control performance of the system is realized;
3. the synchronous control of the industrial internet multi-axis motion system with the composite disturbance can be realized, the influence of uncertainty caused by network induction and various disturbances such as matched and unmatched external loads on the system can be effectively processed, and meanwhile, the flexibility, the complex disturbance processing and inhibiting capacity, the rapidity and the control precision of the system are obviously improved.
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FIG. 1 is a flow chart of a method according to an embodiment of the present invention;
FIG. 2 is a diagram of an equivalent input disturbance multi-axis motion synchronization control system according to an embodiment of the present invention;
the implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1-2, the present invention provides an IEID synchronization control method for industrial internet multi-axis motion, wherein the IEID is a short for Improved Equivalent Input interference (Improved Equivalent-Input-Disturbance), and the method includes:
s1: constructing an initial state space model of an initial multi-axis motion system, and acquiring composite disturbance of the initial state space model;
s2: modifying the initial estimator of the initial state space model through the composite disturbance to obtain an equivalent input interference estimator, and obtaining a filtered equivalent input interference vector through the equivalent input interference estimator
S3: by said filtered equivalent input interference vectorModifying the initial synchronous controller of the initial state space model to obtain an equivalent input interference synchronous controller;
s4: and constructing an equivalent input interference multi-axis motion synchronous control system by the equivalent input interference estimator and the equivalent input interference synchronous controller.
In step S1 of this embodiment, the composite disturbance includes: network interference and external load disturbance;
the initial state space model comprises: m subsystems, an initial estimator and an initial synchronous controller, wherein m is a positive integer greater than 0;
the expression of the initial state space model is shown as formula one:
wherein x is i (t) is the state vector of the ith subsystem,is x i Differential of (t), u i (t) is the control input of the ith subsystem, u i (t- τ) is the control input for the ith subsystem in the presence of network inducement, y i (t) is the output of the i-th subsystem, d τi (t) network interference of the i-th subsystem, d i (t) external load disturbance of the ith subsystem, A i 、B i 、C i And B di Is the system matrix of the i-th subsystem and B di Is a full rank matrix; wherein i represents the number of the subsystem, and i is more than 0 and less than or equal to m;
in this embodiment, step S2 specifically includes:
s21: obtaining the equivalent input interference vector d of the ith subsystem ei (t),Equivalent input interference vector d through the i-th subsystem ei (t) network interference d of the i-th subsystem τi (t) and an external load disturbance d of the i-th subsystem i (t) modifying the ith subsystem to obtain a modified ith subsystem, wherein the expression is shown as a formula two:
s22: constructing an ith subsystem full-order observer through the modified ith subsystem;
s23: the ith subsystem is subjected to the full-order observer of the ith subsystemSystematic equivalent input interference vector d ei (t) modifying to obtain the equivalent input interference vector of the i-th subsystem after modification
S24: construction of the Filter F i (s) inputting the modified equivalent interference vector of the i-th subsystemInput the filter F i (s) obtaining a filtered equivalent input interference vector for the ith subsystem
S25: repeating the steps S21-S25 m times to obtain the equivalent input interference vectors of all the filtered subsystems, and obtaining the equivalent input interference vectors after filtering through the equivalent input interference vector calculation of all the filtered subsystems
S26: and constructing the equivalent input interference estimator by the modified ith subsystem and the subsystem full-order observer.
In step S22 of this embodiment, the expression of the i-th subsystem full-order observer is shown in formula three:
wherein L is i Is the gain matrix of the i-th subsystem full-order observer, u fi (t) is the input to the ith subsystem full order observer,is the state vector x of the ith subsystem i (ii) an estimate of the value of (t),is the output quantity y of the ith subsystem i (t) an estimated value.
In this embodiment, step S23 specifically includes:
s231: let formula four be:
s232: and assumes that there is an input quantity deltad i (t) satisfies the formula five:
s233: and calculating to obtain a formula six according to a formula two and a formula five:
s234: the modified equivalent input interference vector of the i-th subsystem is variable as formula seven:
at this time, the i-th subsystem full-order observer can be further rewritten as shown in formula eight:
the formula three and the formula eight can be calculated to obtain:
in this embodiment, step S24 specifically includes:
s241: constructing the filter F i (s) ofThe expression is as follows:
wherein, T fi Is a time constant, T fi <1/(εω fi ) Epsilon is more than or equal to 1 and less than or equal to 10; alpha, beta and gamma are adjustable proportional attenuation coefficients respectively; omega fi Is the highest angular frequency, and F i (s) satisfies | F i (jω i )|≈1,Adapting to equivalent input interference variables containing different types of signals;
s242: the modified equivalent input interference vector of the ith subsystemThe following formula is input for calculation:
wherein the content of the first and second substances,as equivalent input interference vector of ith filtered subsystemThe laplace transform of (a) is performed,for the modified equivalent input interference vector of the i-th subsystemIs performed by the laplace transform.
In step S3 of this embodiment, the expression of the equivalent input interference synchronization controller is as follows:
wherein r is 0 (t) is a reference signal, x i1 (t) status of i-th subsystem, e i (t) is the ith subsystem tracking error, e (t) is the error vector,is the differential of e (t), K is the control gain matrix, Γ is the synchronization matrix, δ η/μ The synchronous coupling factors eta, mu, rho and theta are natural positive integers which are quickly adjusted to ensure that the equivalent input interference synchronous controller well processes the composite disturbance and the inhibition capability and realizes the function of quickly eliminating the composite disturbance,and u (t) is the equivalent input interference vector after filtering, and u (t) is the synchronous control input quantity.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third and the like do not denote any order, but rather the words first, second and the like may be interpreted as indicating any order.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (6)
1. An IEID synchronous control method for industrial internet multi-axis motion is characterized by comprising the following steps:
s1: constructing an initial state space model of an initial multi-axis motion system, and acquiring composite disturbance of the initial state space model;
in step S1, the composite disturbance includes: network interference and external load disturbance;
the initial state space model comprises: m subsystems, an initial estimator and an initial synchronous controller, wherein m is a positive integer greater than 0;
the expression of the initial state space model is shown as formula one:
wherein x is i (t) is the state vector of the ith subsystem,is x i Differential of (t), u i (t) is the control input of the ith subsystem, u i (t- τ) is the control input for the ith subsystem in the presence of network inducement, y i (t) is the output quantity of the i-th subsystem, d τi (t) network interference of the i-th subsystem, d i (t) external load disturbance of the ith subsystem, A i 、B i 、C i And B di Is a system matrix of the i-th subsystem and B di Is a full rank matrix; wherein i represents the number of the subsystem, and i is more than 0 and less than or equal to m;
s2: modifying the initial estimator of the initial state space model by the composite disturbance to obtain an equivalent input interference estimator, and obtaining a filtered equivalent input interference vector by the equivalent input interference estimator
S3: by said filtered equivalent input interference vectorModifying the initial synchronous controller of the initial state space model to obtain an equivalent input interference synchronous controller;
s4: and constructing an equivalent input interference multi-axis motion synchronous control system by the equivalent input interference estimator and the equivalent input interference synchronous controller.
2. The IEID synchronization control method for industrial internet multi-axis motion according to claim 1, wherein step S2 specifically comprises:
s21: obtaining the equivalent input interference vector d of the ith subsystem ei (t) an equivalent input interference vector d through said i-th subsystem ei (t) network interference d of the i-th subsystem τi (t) and an external load disturbance d of the i-th subsystem i (t) modifying the ith subsystem to obtain a modified ith subsystem, wherein an expression is shown as a formula two:
s22: constructing an ith subsystem full-order observer through the modified ith subsystem;
s23: equivalent input interference vector d of the ith subsystem through the ith subsystem full-order observer ei (t) modifying to obtain the equivalent input interference vector of the i-th subsystem after modification
S24: construction of the Filter F i (s) inputting the modified equivalent interference vector of the i-th subsystemIs inputted into the filter F i (s) obtaining a filtered equivalent input interference vector for the ith subsystem
S25: repeating the steps S21-S25 m times to obtain the equivalent input interference vectors of all the filtered subsystems, and obtaining the equivalent input interference vectors after filtering through the equivalent input interference vector calculation of all the filtered subsystems
S26: constructing the equivalent input disturbance estimator from the modified i-th subsystem and the subsystem full-order observer.
3. The IEID synchronization control method for multi-axis motion of industrial internet according to claim 2, wherein in step S22, the expression of the i-th subsystem full-order observer is as shown in formula three:
4. The IEID synchronization control method for industrial internet multi-axis motion according to claim 2, wherein step S23 specifically comprises:
s233: and calculating to obtain a formula six according to a formula two and a formula five:
5. the IEID synchronization control method for industrial internet multi-axis motion according to claim 2, wherein step S24 specifically comprises:
s241: constructing the filter F i The expression of(s) is as follows:
wherein, T fi Is a time constant, T fi <1/(εω fi ) Epsilon is more than or equal to 1 and less than or equal to 10; alpha, beta and gamma are adjustable proportional attenuation coefficients respectively; omega fi Is the highest angular frequency, and F i (s) satisfies | F i (jω i )|≈1,
S242: the modified equivalent input interference vector of the ith subsystemThe following formula is input for calculation:
6. The IEID synchronization control method for industrial internet multi-axis motion according to claim 1, wherein in step S3, the equivalent input interference synchronization controller has the following expression:
wherein r is 0 (t) is a reference signal, x i1 (t) status of i-th subsystem, e i (t) is the ith subsystem tracking error, e (t) is the error vector,is the differential of e (t), K is the control gain matrix, Γ is the synchronization matrix, δ η/μ Is a synchronous coupling factor, eta, mu, rho and theta are natural positive integers for quick adjustment,and u (t) is the equivalent input interference vector after filtering, and u (t) is the synchronous control input quantity.
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