Dynamic feedforward compensation based improved generalized predication self-adaptive control method and application thereof

A technology of adaptive control and generalized prediction, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., and can solve problems such as the control error of the controlled object

Inactive Publication Date: 2015-07-22
SHANGHAI JIAO TONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] However, since this control method is essentially a closed-loop feedback control, there is always a certain time lag in the response speed of the control method in this method, which will cause unavoidable control errors in the controlled object.

Method used

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  • Dynamic feedforward compensation based improved generalized predication self-adaptive control method and application thereof
  • Dynamic feedforward compensation based improved generalized predication self-adaptive control method and application thereof
  • Dynamic feedforward compensation based improved generalized predication self-adaptive control method and application thereof

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Experimental program
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Effect test

Embodiment 1

[0048] This embodiment provides an improved generalized predictive adaptive control method for dynamic feedforward compensation, including the following steps:

[0049] Real-time mathematical model A of the controlled object is identified online based on the controlled autoregressive moving average model;

[0050] The real-time mathematical model A is used for the feed-forward controller, combined with the improved generalized predictive adaptive control method for dynamic feed-forward compensation;

[0051] The real-time mathematical model A is used for the feedback controller, combined with the improved generalized predictive adaptive control method for adaptive feedback control;

[0052] Finally, the feed-forward and feedback compound control of the controlled object is realized;

[0053] The improved generalized predictive adaptive control method is specifically:

[0054] On the basis of predictive control, dynamic feedforward compensation preparation, multi-step predict...

Embodiment 2

[0093] Embodiment 2 is a modification example of Embodiment 1.

[0094] In Embodiment 2, the interference excitation in the positioning process of the single-degree-of-freedom magnetostrictive driver is added, and the compensation for the interference excitation is realized through dynamic feedforward compensation, and then the driving positioning accuracy is improved through adaptive feedback control. Finally, the precise positioning control of the single-degree-of-freedom magnetostrictive drive under the interference environment is realized. Such as figure 2 shown.

Embodiment 3

[0096] Embodiment 3 is a modification example of Embodiment 1. In this embodiment, the positioning drive control of the multi-degree-of-freedom precision coupling drive platform is realized.

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Abstract

The invention provides a dynamic feedforward compensation based improved generalized predication self-adaptive control method. Application of the method includes the following steps: identifying a real-time mathematic model A of a controlled object according to a controlled autoregression moving average model online; applying the real-time mathematic model A to a feedforward controller, and performing dynamic feedforward compensation by combining the improved generalized predication self-adaptive control method; applying the real-time mathematic model A to a feedback controller, and performing self-adaptive feedback control by combining the improved generalized predication self-adaptive control method; finally, realizing feedforward and feedback combined control of the controlled object. The improved generalized predication self-adaptive control method includes performing dynamic feedforward compensation preparation, multi-step predication and control quantity solution on the basis of generalized predication control. The invention further provides the application of the method in single-degree-of-freedom magnetostriction drivers and multiple-degree-of-freedom precise coupling driving platforms. The dynamic feedforward compensation based improved generalized predication self-adaptive control method and the application thereof have the advantage of improvement in control accuracy of the magnetostriction drivers and control speed of the control method.

Description

technical field [0001] The invention relates to the field of single-degree-of-freedom magnetostrictive driver and multi-degree-of-freedom precision platform drive positioning control, in particular to a dynamic system for precise drive positioning and vibration active vibration isolation of a single-degree-of-freedom driver and a multi-degree-of-freedom precision coupling drive platform. Improved generalized predictive adaptive control method for feedforward compensation and its application. Background technique [0002] In the field of precision drive control, in order to realize high-precision drive control, adaptive control technology has been more and more widely used. This control method is essentially a closed-loop feedback control. The mathematical model of the controlled object is constructed online or offline, and the corresponding control quantity is calculated through the mathematical inverse model, thereby realizing the drive control of the controlled object. Fo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 邓凯杨斌堂
Owner SHANGHAI JIAO TONG UNIV
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