Distributed multi-executer control instruction allocation method considering multiple constraints
A multi-actuator and control instruction technology, applied in the direction of program control, comprehensive factory control, comprehensive factory control, etc., can solve the problems that the control allocation method cannot be applied, the direct allocation method has a large amount of calculation and computational complexity, and the increase of calculation amount
Active Publication Date: 2016-08-31
NORTHWESTERN POLYTECHNICAL UNIV
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However, the pseudo-inverse method cannot guarantee that the output is within the constraints of the actuator output feasible region, and requires a large number of matrix inversion operations; the direct assignment method has a large amount of calculation and computational complexity
However, with the emergence of various distributed control systems, such as space cell robots, the system structure becomes complex and the number of actuators increases, so the calculation amount of the above calculation method increases greatly; in addition, due to the distributed nature of the system, it is necessary to Involves the addition and deletion of executors, which makes the above-mentioned control distribution method relying on the central computing node inapplicable
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[0072] The present invention is described in further detail below in conjunction with accompanying drawing:
[0073] see Figure 1-Figure 3 , the present invention considers the multi-constraint distributed multi-actuator control instruction distribution method, comprising the following steps:
[0074] Step 1: Initialize parameters
[0075] Define the effect produced by the actuator's own unit output as its output efficiency vector a i ∈ R 2×1 , where i=1,2,...,N, N is the number of actuators and N≥2.
[0076] Define the participating allocation identifier of executor i as b i , if the actuator i does not participate in the control assignment due to failure, saturation, overrun, etc., then b i = 0; on the contrary, if actuator i participates in control allocation, then b i =1.
[0077] The controller command to be assigned is v∈R 2×1 , is output by the controller, and the specific way of obtaining it depends on the controller itself, which is not the content of this pa...
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The invention discloses a distributed multi-executer control instruction allocation method considering multiple constraints. The distributed multi-executer control instruction allocation method can allocate according to matching factors of executers and control instructions, and satisfies upper and lower limits of control output and energy constraints of each executer. The distributed multi-executer control instruction allocation method is a distributed algorithm, requires no central unit in calculation of the matching factors, output increments and the like, has no risk of system failure caused by a central unit, and increases robustness of the system; the output calculation does not need matrix inversion operation of a traditional pseudo-inverse method and the like, the calculation complexity is greatly reduced, and the advantage is more obvious especially under the condition of large number of the executers; the output obtained through calculation satisfies upper and lower output limit constraints as well as residual energy constraints of the executers; and the distributed multi-executer control instruction allocation method is suitable for control allocation among heterogeneous executers, can be applied to a system equipped with a bidirectional executer and a unidirectional executer, and is suitable for executers with different constraints of upper and lower output limits.
Description
【Technical field】 [0001] The invention belongs to the field of control distribution of redundant actuators, and in particular relates to a distributed multi-actuator control instruction distribution method considering multiple constraints. 【Background technique】 [0002] In the control system, in order to improve the robustness of the system, multiple actuators are usually redundantly configured to ensure the effectiveness of the control system when individual actuators fail. In a multi-actuator control system, how to distribute the expected control commands among multiple actuators so that the outputs of multiple actuators are as consistent as possible with the expected control commands is the purpose of the research on control allocation. For example, in spacecraft control, in order to ensure system reliability, it is usually equipped with multiple actuators such as thrusters and reaction flywheels. These actuators need to work together to make the resultant force and torq...
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CPCY02P90/02G05B19/41865
Inventor黄攀峰常海涛孟中杰刘正雄鹿振宇
OwnerNORTHWESTERN POLYTECHNICAL UNIV