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Self-adaptive control method based on characteristic model

A technology of adaptive control and characteristic model, which is applied in the direction of adaptive control, general control system, control/regulation system, etc. It can solve the problems that the coefficient constant bound of the characteristic model is difficult to determine, cannot be calculated, and has no solution.

Active Publication Date: 2020-01-14
BEIJING INST OF CONTROL ENG
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Problems solved by technology

However, the range cannot be calculated according to the steady state, because the range calculated in this way is not applicable to the transient state
Therefore, in practice, the constant bounds of the coefficients of the characteristic model are difficult to determine
Currently, there is no solution to this problem

Method used

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  • Self-adaptive control method based on characteristic model
  • Self-adaptive control method based on characteristic model
  • Self-adaptive control method based on characteristic model

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Embodiment Construction

[0067] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0068] The method of the invention proposes the state-related coefficient bound and its identification method, solves the modeling problem of the characteristic model, and realizes the self-adaptive control of the Euler-Lagrangian controlled object on this basis. Such as figure 1 As shown, the present invention is realized through steps (1)-step (7).

[0069] step 1)

[0070] The controlled object is represented by the following Euler-Lagrangian equation:

[0071]

[0072] where, q∈R p are the generalized coordinates, is the generalized velocity, is the generalized acceleration, M(q)∈R p×p is the symmetric positive definite inertia matrix, is the Coriolis force, G(q)∈R p is generalized powerful, τ∈R p is the generalized control torque, and R represents the real number space.

[0073] System formula (1) satisfies the following properties:

[0074] Pro...

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Abstract

The invention discloses a self-adaptive control method based on a characteristic model. The method is characterized by firstly, acquiring the characteristic model of a controlled target; then, designing a coefficient of the characteristic model, a boundary related to a state and a parameter identification projection method; and identifying unknown coefficient variables in the characteristic modelby using a projection identification algorithm to obtain an identification value; and finally obtaining a control quantity according to the identification value so as to obtain input of the controlledtarget in a next period and complete closed-loop control based on the characteristic model in a current period. In the method, through designing the boundary of the coefficient related to the state and further designing the parameter identification projection method, a problem that the boundary of a constant is difficult to determine through the parameter of the characteristic model is solved, and adaptive control of a Euler-Lagrange system based on the characteristic model is realized. Meanwhile, the method can cover the multiple types of controlled targets, including Euler-Lagrange systemssuch as spacecraft controlled targets, advanced static var generator controlled targets and the like, and the method has good universality and an application prospect.

Description

technical field [0001] The invention belongs to the field of spacecraft control and relates to a closed-loop feedback control method based on a characteristic model. Background technique [0002] The characteristic modeling theory is a control theory proposed by Academician Wu Hongxin in the 1980s. After more than 30 years of research, important progress has been made in theory and application, and a complete set of highly practical adaptive control theory and methods has been formed. . This method has been successfully applied in manned spacecraft reentry lift control, rendezvous and docking control, and lunar exploration return control, and the parachute opening accuracy has reached the world's advanced level. Therefore, the feature modeling theory has important application value and application prospect. [0003] At present, the parameter bounds of the established characteristic models are all constant values. In the actual operation of the system, the coefficient of t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042Y02T90/00
Inventor 孟斌王丽娇解永春吴宏鑫
Owner BEIJING INST OF CONTROL ENG
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