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Control method for hierarchical saturation PID (Proportion Integration Differentiation) controller based on integral separation

A technology of integral separation and control method, applied in the control field of hierarchical saturated PID controller, can solve the problems of system oscillation, large system overshoot, PID operation integral accumulation, etc., to achieve good control effect and remove adverse effects.

Active Publication Date: 2013-04-10
哈尔滨工大卫星技术有限公司
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Problems solved by technology

[0004] In order to solve the problem that the hierarchical saturation PID controller added with the integral term will cause the integral accumulation of the PID operation, the calculated control quantity far exceeds the limit control quantity corresponding to the maximum output capacity of the actuator, and finally causes a large overshoot of the system. Even cause the problem of oscillation of the system, thus providing a control method based on integral separation of hierarchical saturated PID controller

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  • Control method for hierarchical saturation PID (Proportion Integration Differentiation) controller based on integral separation
  • Control method for hierarchical saturation PID (Proportion Integration Differentiation) controller based on integral separation
  • Control method for hierarchical saturation PID (Proportion Integration Differentiation) controller based on integral separation

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specific Embodiment approach 1

[0016] Specific implementation mode 1. Combination Figure 1-2 Illustrate this specific embodiment, the control method based on the hierarchical saturation PID controller of integral separation, the control object of this control method is agile satellite spacecraft, hereinafter referred to as agile satellite spacecraft is a star, and described control method comprises the following steps:

[0017] Step 1: According to the real-time attitude quaternion Q of the star and the quaternion Q of the star target c , calculate the deviation vector e;

[0018] Step 2: According to the maximum control acceleration a of the i-th axis of the star coordinate system i , the maximum rotational angular velocity of each axis of the star|ω i | max Calculate the angular velocity constraint coefficient L with the deviation vector e obtained in step 1 i ;

[0019] Step 3: Determine the integral separation coefficient matrix β according to the deviation vector e obtained in step 1;

[0020] S...

specific Embodiment approach 2

[0024] Embodiment 2. The difference between this embodiment and Embodiment 1 is that the step 1 is based on the real-time posture quaternion Q and the target quaternion Q. c , the method to calculate the deviation vector e is as follows:

[0025] The form of the real-time attitude quaternion Q is as follows:

[0026] Q = q 0 q 1 q 2 q 3 = cos θ 2 i x ...

specific Embodiment approach 3

[0032] Specific embodiment three, combine image 3 This specific embodiment will be described. The difference between this specific embodiment and specific embodiment 1 is the step 2: the deviation vector e obtained according to the step 1, the maximum control acceleration a of the star i and the maximum rotational angular velocity |ω i | max Calculate the angular velocity constraint coefficient L i The method is as follows:

[0033] L i = ( c / 2 k ) min { 4 a i | e i | , | ω i | max }

[0034] Among them, k, c are gain coefficients;

[0035] a i =40% U / J ii is the m...

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Abstract

A control method for a hierarchical saturation PID (Proportion Integration Differentiation) controller based on integral separation relates to a control method for a hierarchical saturation PID controller, and solves the problem of larger system overshoot and even system oscillation caused by calculated control quantity far more than limit control quantity which corresponds to the maximal output capacity of an execution mechanism due to the integral accumulation of PID operation, wherein the integral accumulation of the PID operation is caused by the hierarchical saturation PID controller added in an integral item. The method comprises the following steps: a deviation vector e is calculated according to a real-time online quaternion Q and a target quaternion Qc; an angular velocity restraint coefficient Li is calculated according to the maximal star control acceleration ai, the maximal rotating angular velocity |Omega i|max and the deviation vector e obtained in the step 1, and an integral separation coefficient matrix Beta is determined according to the deviation vector e; output moment uc is calculated by combining the angular velocity restraint coefficient Li with the integral separation coefficient matrix Beta; and actual star angular velocity speed omega and a updated feedback real-time posture quaternion Q are solved respectively through a posture kinetic equation and a posture kinematic equation. The method can be widely applied in control systems for spacecrafts.

Description

technical field [0001] The invention relates to a control method of a hierarchical saturated PID controller. Background technique [0002] A key word in the application of agile satellites is the design of the controller. A good controller can make the overshoot of the system small, the transition process time short, the steady-state error small, and the control precision high. [0003] Generally, the purpose of adding integral term in the hierarchical saturated PID controller is to improve the system type, eliminate the static error and improve the control precision. However, when the process starts, ends, or greatly increases or decreases the set value, the system has a large deviation in a short period of time, which will cause the integral accumulation of the PID calculation, resulting in the calculated control amount far exceeding the limit corresponding to the maximum output capacity of the actuator. The control amount will eventually cause a large overshoot of the sy...

Claims

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Application Information

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IPC IPC(8): G05B11/42
Inventor 孙兆伟杨云刚王峰曹喜滨潘小彤李冬柏庞博李太平宁明峰岳程斐
Owner 哈尔滨工大卫星技术有限公司
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