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Overdrive system control allocation method based on geometrically intuitively built reachable set

A technology of control distribution and overdrive, which is applied in general control systems, control/regulation systems, instruments, etc., can solve the problems of difficult to meet the real-time requirements of the system, large amount of calculation, etc., and achieve the reduction of the control efficiency matrix dimension, the method is intuitive, easy-to-understand effect

Active Publication Date: 2018-08-17
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

However, in the direct assignment problem, as the system redundancy increases, that is, the number of executors increases, the number of vertices and facets in the reachable set increases quadratically with the increase in the number of executors, and the amount of calculation Especially in the problem that the actuator is limited by the maximum deflection rate, the reachable set can be changed in real time, and the reachable set needs to be constructed online. The traditional reachable set construction method is difficult to meet the real-time requirements of the system

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  • Overdrive system control allocation method based on geometrically intuitively built reachable set
  • Overdrive system control allocation method based on geometrically intuitively built reachable set
  • Overdrive system control allocation method based on geometrically intuitively built reachable set

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Embodiment Construction

[0031] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0032] For systems where the actuator is limited only by the deflection position, the reachable set is fixed. When the control degree of freedom (DOF) is 3, the reachable set is a polyhedron in three-dimensional space. When there are m actuators in the system, the virtual control instruction v and control input u can be expressed as:

[0033] v=[v 1 v 2 v 3 ] T

[0034] u=[u 1 u 2 u 3 ] T

[0035] Rewrite the control efficiency matrix into a column vector form:

[0036] B=[b 1 b 2 ...b m ]

[0037] The premise of the algorithm must ensure that the columns of the control efficiency matrix B are linearly independent. Then the linear transformation model between the control command and the control input is:

[0038]

[0039] remove b alone 1 ,b 2 The product term gives:

[0040]

[0041] Formula (2) can be regarded as R 3 u in ...

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Abstract

The invention discloses an overdrive system control allocation method based on a geometrically intuitively built reachable set. Through selecting parameters, then the parameters are eliminated to obtain a plane general equation, the dimension of a control efficiency matrix is reduced, and thus the amount of calculation is greatly reduced in constructing the reachable set. The method is intuitiveand easy to understand, accordingly the necessary and sufficient conditions for vertices, facets and edges of the reachable set can be given, and in a complex control system such as a multi-degree-of-freedom manipulator, the amount of calculation of constructing the reachable set can be reduced to an acceptable range by using the method.

Description

technical field [0001] The invention belongs to the technical field of system control, and in particular relates to an overdrive system control distribution method based on geometric intuition to construct reachable sets. Background technique [0002] In the control of distributed electric drive vehicles and aircraft with advanced aerodynamic layout, system performance is often improved through the redundant configuration of actuators, which also makes the control system more and more complex. Conventional motion control systems and flight control The system has been difficult to meet the design requirements, and it is necessary to redesign a control system structure to effectively control each actuator. [0003] Control assignment is a key technology to solve the problem of multi-actuator system. The control assignment can be reasonably assigned to each actuator by the virtual control instruction derived from the control law, and then the control goal can be achieved. The...

Claims

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Application Information

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IPC IPC(8): G05B9/03
CPCG05B9/03
Inventor 刘彤王美玲李海筝周培德沈宏梁
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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