An Adaptive Control Method Based on Feature Model

A technology of adaptive control and characteristic model, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as inapplicability of transient state, inability to calculate, difficulty in determining the coefficient constant bound of characteristic model, etc., to achieve Solve the problem of parameter identification, improve performance, and achieve good versatility

Active Publication Date: 2022-07-05
BEIJING INST OF CONTROL ENG
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Problems solved by technology

However, the range cannot be calculated according to the steady state, because the range calculated in this way is not applicable to the transient state
Therefore, in practice, the constant bounds of the coefficients of the characteristic model are difficult to determine
Currently, there is no solution to this problem

Method used

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  • An Adaptive Control Method Based on Feature Model
  • An Adaptive Control Method Based on Feature Model
  • An Adaptive Control Method Based on Feature Model

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Embodiment Construction

[0068] The present invention will be described in detail below with reference to the accompanying drawings.

[0069] The method of the invention proposes a state-related coefficient bound and an identification method, solves the modeling problem of the characteristic model, and realizes the self-adaptive control of the Euler-Lagrangian controlled object on this basis. like figure 1 As shown, the present invention is implemented through steps (1) to (7).

[0070] step 1)

[0071] The controlled object is represented by the following Euler-Lagrange equation:

[0072]

[0073] where q∈R p are generalized coordinates, is the generalized velocity, is the generalized acceleration, M(q)∈R p×p is the symmetric positive definite inertia matrix, is the Coriolis force, G(q)∈R p is the generalized powerful, τ∈R p is the generalized control torque, and R represents the real number space.

[0074] The system formula (1) satisfies the following properties:

[0075] Property ...

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Abstract

A feature model-based adaptive control method, first obtain the feature model of the controlled object, and then design the coefficient and state-related bounds of the feature model and a projection method for parameter identification, and use the projection identification algorithm to identify the unknown coefficient variables in the feature model. , obtain the identification value, and finally obtain the control amount according to the identification value, and then obtain the input of the controlled object in the next cycle, and complete the closed-loop control based on the feature model in the current cycle. The method of the invention solves the problem that the parameters of the characteristic model are difficult to determine the bounds of the constants by designing the bounds of the coefficients related to the state, and further designs the projection method for parameter identification, and realizes the Euler-Lagrangian system based on the characteristic model. Adaptive Control. At the same time, the method can cover many types of controlled objects, including the controlled objects of spacecraft, advanced static var generators and other Euler-Lagrangian systems, and has good versatility and application prospects.

Description

technical field [0001] The invention belongs to the field of spacecraft control, and relates to a closed-loop feedback control method based on a characteristic model. Background technique [0002] The characteristic modeling theory is a control theory proposed by Academician Wu Hongxin in the 1980s. After more than 30 years of research, important progress has been made in both theory and application, and a complete set of adaptive control theories and methods with strong practicability has been formed. . The method has been successfully applied in manned spacecraft re-entry lift control, rendezvous and docking control, and lunar exploration return control, and the parachute opening accuracy has reached the world's advanced level. Therefore, feature modeling theory has important application value and application prospect. [0003] At present, the parameter boundaries of the established feature models are all constants. In the actual operation of the system, the coefficient...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042Y02T90/00
Inventor 孟斌王丽娇解永春吴宏鑫
Owner BEIJING INST OF CONTROL ENG
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