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Anti-interference control method for singular perturbation system

A technology of singular perturbation and control method, applied in the direction of adaptive control, general control system, control/regulation system, etc. The effect of stickiness and reliability

Active Publication Date: 2020-02-28
BEIHANG UNIV
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Problems solved by technology

[0004] The technical solution of the present invention is to solve the problem that the fast state variable and the slow state variable in the singular perturbation system have fast-changing interference and slow-changing interference respectively, overcome the deficiencies of the prior art, and provide a singular perturbation system anti-interference control method to solve the problem of fast and slow disturbance estimation and compensation of singular perturbation systems, and improve the accuracy and rapidity of the system

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  • Anti-interference control method for singular perturbation system
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  • Anti-interference control method for singular perturbation system

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[0039] The present invention will be described in further detail below in conjunction with the accompanying drawings and examples. as attached figure 1 Shown, the specific implementation steps of the present invention are as follows (taking a certain attitude pilot system as an example):

[0040] 1. Establish a system model including external disturbances, and write the state space expression as follows:

[0041]

[0042] where x=[γ v θ q] T is the system state, Represents the first derivative of x to time, γ represents the displacement along the velocity direction, v represents the normalized velocity increment v=(V-V 0 ) / V 0, θ represents the pitch angle increment, q represents the pitch rate, u represents the system control input, d represents the external disturbance of the system, and y represents the system output. coefficient matrix C=[0 0 0 1], the initial value of x

[0043] 2. Transform the system model to obtain the standard singular perturbation syste...

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Abstract

The invention relates to an anti-interference control method for a singular perturbation system and aims at solving the problem that a fast state variable and a slow state variable in the singular perturbation system have fast variable interference and slow variable interference respectively. The method comprises the following steps: firstly, analyzing interference of the system under complex environmental conditions, and building a system model containing external interference; secondly, according to a singular perturbation theory, converting the system model into a singular perturbation system model, and performing singular perturbation decomposition on the system, thus obtaining a fast subsystem and a slow subsystem; then respectively designing an interference observer for each subsystem, so that precise estimation on the external interference is realized; and finally, designing a state feedback controller for realizing accurate compensation on the external interface and fast control on each subsystem. The anti-interference control method provided by the invention has the characteristics of strong anti-interference capability, high control precision and high convergence speed and can be used for high-precision fast control on aerospace singular perturbation systems of satellites, unmanned aerial vehicles, guided missile and the like.

Description

technical field [0001] The invention relates to an anti-interference control method of a singular perturbation system. The proposed method aims at the problem that the fast state variable and the slow state variable in the singular perturbation system have fast-changing interference and slow-changing interference respectively, and establishes a singularity including external fast and slow interference. The perturbation system model realizes the estimation and compensation of interference and the improvement of the rapidity of the system, and can be used for high-precision and rapid control of aerospace singular perturbation systems such as satellites, drones, and missiles. Background technique [0002] In aerospace and other engineering fields such as aircraft attitude control and multi-joint manipulator high-precision control modeling process, there are a large number of small time constants, inertia, conductance or capacitance, etc., which will make the model have a very hi...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/045
Inventor 郭雷谢一嘉乔建忠余翔许昱涵
Owner BEIHANG UNIV
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