Saturation problem moving body attitude event-triggered control method with actuator

A technology of event triggering and control method, applied in attitude control and other directions, can solve the problem of excessive data load of the control system, and achieve the effect of ensuring asymptotic stability, fast response speed, and ensuring system stability

Active Publication Date: 2015-12-16
北京天航华创科技股份有限公司
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Problems solved by technology

In practical engineering applications, the position, attitude, speed and other state quantities of the moving body are measured by sensors such as combined inertial navigation, and the control quantity calculated by this method will be transmitted to the actuator, which can solve the problem of saturation of the actuator of the moving body, Attitude tracking control function for the problem of excessive data load in the control system

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  • Saturation problem moving body attitude event-triggered control method with actuator
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  • Saturation problem moving body attitude event-triggered control method with actuator

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Embodiment Construction

[0084] Below in conjunction with accompanying drawing, each part design method in the present invention is further described:

[0085] The present invention "a motion body attitude event trigger control method with actuator saturation problem", see figure 1 As shown, the specific steps are as follows:

[0086] Step 1: Given expected tracking value

[0087] 1) if figure 2 As shown, the body coordinate system is established with the center of mass of the moving body as the origin ;Establish an inertial coordinate system with any point on the ground as the origin , where the origin For any point on the ground, pointing north, pointing east, point to the center of the earth;

[0088] 2) The given expected attitude angle is , which can be a function of time or path , can also be a fixed value ;

[0089] 3) Given the desired speed as , which can be a function of time or path , can also be a fixed value .

[0090] Step 2: Calculate attitude angle trackin...

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Abstract

The invention provides a saturation problem moving body attitude event-triggered control method with an actuator. The steps are listed as follows: 1, expected tracking values are given: expected attitude angles phi<d>, theta<d> and psi<d>, and expected attitude angle speed p<d>, q<d>, r<d>; 2, attitude angle tracking error is calculated: attitude angle error phi<e>, theta<e> and psi<e>, and attitude angle speed error q<e>, p<e> and r<e>; 3, an event-triggered controller is designed: feedback gain K<c> is calculated; 4, event-triggered controller output quantity y<c> for eliminating the attitude angle is calculated; and event conditions are designed; 5, control quantity limit is given: saturation control quantity sat(mu) for eliminating the expected attitude angle and attitude angle speed error is calculated; 6, an LQ anti-saturation control compensator is designed: the feedback terms v<aw> and y<aw> of correction control quantity and state quantity are calculated; and 7, input and output mu<c,aw> and y<c,aw> of an event-triggered controller after correction of the LQ anti-saturation control compensator are calculated and applied to a moving body control model. According to the method, problems of actuating mechanism saturation and system data load can be solved, any expected attitude can be tracked and closed loop system asymptotical stability can be guaranteed.

Description

technical field [0001] The present invention provides a control method for attitude event triggering of a moving body with the problem of actuator saturation, which provides a new and widely used method for general conventional moving bodies that can update the controller according to event triggers and resist saturation of the actuator. The control method belongs to the technical field of automatic control. Background technique [0002] For a moving body with an actuator, when the moving body tracks the desired posture, due to the limit setting of the actuator of the moving body, it is easy to cause the problem of saturation of the actuator; in addition, during the movement of the moving body, there is often a data load If it is too large, the performance of the control system will drop, and even cause problems such as system instability. [0003] This invention "a moving body attitude event trigger control method with actuator saturation problem" is based on the above pro...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
Inventor 郑泽伟祝明
Owner 北京天航华创科技股份有限公司
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