Adaptive control system based on dynamic feedback-feedforward

Abstract

The invention relates to the technical field of adaptive control, in particular to an adaptive control system based on dynamic feedback-feedforward. A dynamic feedback-feedforward control system is formed by real-time processing of feedforward data. Output of a feedback control system is used as the basic composition of the feedforward control system, and control information during feedback control is taken as input of feedforward data, processed with an adaptive feedforward control method, and then taken as input of feedforward control. Interference signals are not required to be measured by experimental equipment, only the control information during feedback control is needed as the feedforward data, after the feedforward data is processed by the system, interference of external disturbance to the system can be automatically suppressed, the interference can be adjusted roughly in time, burdens of the system can be reduced, the precision requirement of a feedforward control model can also be reduced, control quality is improved, and the system achieves dynamic stability.

Description

technical field [0001] The invention relates to the technical field of adaptive control, in particular to a dynamic feedback-feedforward based adaptive control system formed by real-time processing of feedforward data. Background technique [0002] The adaptive control system was first applied in aviation. With the development of computer technology and the continuous improvement of the theory, the popularization and application of adaptive control technology will continue to develop. This control technology is not only used in various industrial sectors, such as in navigation In terms of chemical process, iron and steel and metallurgical industry, in terms of electric drive, it has also been promoted in non-industrial sectors in recent years, such as biomedical sectors, but as far as the existing reports on applications are concerned, adaptive control technology It is mainly used for systems with slow processes and objects whose characteristics do not change rapidly. [00...

AI Technical Summary

Problems solved by technology

Among them, the feedback control system is controlled according to the information of the system output change, by comparing the deviation between the behavior (output) of the controlled system and the expected behavior, and eliminating the deviation to obtain the expected system performance; the feedforward control system is to use the input or disturbance signal to control, the output of the control system does not have any influence on the control of the system; however, in principle, the feedback control system is lagging, and only after the controlled system is disturbed and produces a deviation, it will respond and action

The time delay between discovering the deviation and taking corrective measures determines the bandwidth of the control system, and the deviation outside the bandwidth cannot be effectively compensated

The feedforward control system is advanced, and its bandwidth can be infinite in theory, but in practical applications, first, the source of the disturbance that causes the deviation cannot be obtained completely, and second, the correspondence between the disturbance and the deviation depends on the state of the controlled system, and It is not constant, which leads to relatively poor accuracy of the control system; although the patent No. 200410036850.3 discloses an adaptive controller in the name of state-based adaptive feedback / feedforward PID controller, the main is through the The error generator is set in the controller to analyze the output data, correlate the error with the parameter value, and then perform corresponding self-adaptation through the parameter plug-in to update the controller data in response to the self-adaptation at the end of the self-adaptation cycle parameters, the control method is rough and complicated, and the real-time self-adaptive precision is not high

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