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Learning-oriented disturbance observer design method

A technology of disturbance observer and design method, applied in the direction of instrument, adaptive control, control/regulation system, etc.

Inactive Publication Date: 2020-07-28
QINGDAO UNIV OF SCI & TECH
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On the other hand, many real systems operate repeatedly at a constant time

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  • Learning-oriented disturbance observer design method
  • Learning-oriented disturbance observer design method
  • Learning-oriented disturbance observer design method

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[0143] In order to better illustrate the purpose and advantages of the present invention, the following is compared with the traditional reduced-order disturbance observer method, and the content of the present invention is further described in detail in combination with embodiments and corresponding drawings.

[0144] The present invention mainly aims at the total disturbance estimation problem of a repeatable system with non-repetitive external disturbances. Under the data-driven framework, the data-driven method is used. Specifically, by using the input, state and output data of the repeatable system, a total A perturbed linear data model, where the non-repeated perturbation is expressed as the total perturbation in the linear data model. In order to estimate the total disturbance, two cases of measurable state and unmeasurable state are considered, and a learned disturbance observer based on system state and a learned disturbance observer based on system output are proposed...

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Abstract

The invention discloses a learning-oriented disturbance observer design method, and belongs to the field of intelligent control. Mainly under a data-driven framework, aiming at the total disturbance estimation problem of a repeatable system with non-repetitive external disturbance, the disturbance observer scheme is as follows: establishing a system with non-repetitive disturbance; iteratively linearizing the system into a linear data model, and converting non-repetitive disturbance into total disturbance; designing an iterative updating algorithm to estimate a gradient matrix in the linear data model; designing a state-based learning disturbance observer for a state-measurable system; and for a system with an unmeasurable state, designing an output-based learning disturbance observer. According to the learning-oriented disturbance observer design method disclosed by the invention, the total disturbance in the system can be estimated under a data-driven framework, only a small amount of model information is utilized, the method has good adaptability, learning can be carried out from the previous batch of operation data, and the estimation of the total disturbance is more accurate.

Description

technical field [0001] The invention belongs to the field of intelligent control, and more specifically relates to a design method of a learning disturbance observer based on data drive. Background technique [0002] In industrial applications, the presence of disturbance is unavoidable. System disturbances include not only nonlinear disturbances, time delays, and sensor measurement noise, but also external disturbances and unknown input disturbances. Disturbances in the system can seriously affect control performance. To account for disturbances in the system, a disturbance observer for estimating the uncertainty can be designed and then incorporated into the controller to compensate for its impact on control performance. [0003] At present, linear disturbance observers have been well developed, and there are many theoretical achievements and practical applications, such as disturbance observers based on frequency domain, reduced-order disturbance observers, time-delay d...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 池荣虎魏阳春姚文龙林娜惠宇
Owner QINGDAO UNIV OF SCI & TECH
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