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Rotary inertial navigation active-disturbance-rejection controller parameter setting method based on adaptive genetic algorithm

An active disturbance rejection controller and genetic algorithm technology, applied in the field of control, can solve problems such as the inability to guarantee the overall stability of the system, the shortened life of the actuator, and the violent vibration of the actuator, and achieve good dynamic quality, improved precision, and fast response. Effect

Active Publication Date: 2021-05-04
BEIJING AEROSPACE AUTOMATIC CONTROL RES INST
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Problems solved by technology

The occurrence of chattering may not only stimulate the high-order unmodeled characteristics of the system, which cannot guarantee the global stability of the system, but also cause violent oscillation of the actuator, which consumes a lot of energy and greatly shortens the life of the actuator.

Method used

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  • Rotary inertial navigation active-disturbance-rejection controller parameter setting method based on adaptive genetic algorithm
  • Rotary inertial navigation active-disturbance-rejection controller parameter setting method based on adaptive genetic algorithm
  • Rotary inertial navigation active-disturbance-rejection controller parameter setting method based on adaptive genetic algorithm

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Embodiment Construction

[0075] The present invention will be further elaborated below in conjunction with embodiment.

[0076] Based on the high-precision and fast-response index control requirements of the new multi-axis inertial navigation system, the present invention designs the optimal ADRC parameters by using an adaptive genetic algorithm, thereby realizing high-precision indexing of the complex rotating mechanism of the new inertial navigation system control.

[0077] Based on the adaptive genetic algorithm, the parameter tuning method of the rotary inertial navigation ADR controller, such as figure 1 As shown, it specifically includes the following steps:

[0078] Step 1. Determine the state equation of the inertial navigation single rotation axis; the single rotation axis is a second-order nonlinear system, and its state equation is:

[0079]

[0080] where x 1 ,x 2 Both are the state variables of the single-rotation axis system; where, x 1 is the angle, x 2 is the angular rate;

...

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Abstract

The invention relates to a rotary inertial navigation active-disturbance-rejection controller parameter setting method based on an adaptive genetic algorithm, and belongs to the technical field of control. On the basis of high-precision and fast-response transposition control requirements of novel multi-axis inertial navigation, an optimal active-disturbance-rejection controller parameter is designed by adopting a self-adaptive genetic algorithm, so that high-precision transposition control of a complex rotating mechanism of a novel inertial navigation system is realized.

Description

technical field [0001] The invention relates to a method for parameter setting of a rotary inertial navigation ADR controller based on an adaptive genetic algorithm, and belongs to the technical field of control. Background technique [0002] Inertial navigation system has become the preferred navigation equipment for aircraft due to its high autonomy and concealment. The present invention carries out relevant research work on the background of the development of a new type of high-precision inertial navigation. This high-precision inertial navigation can realize functions such as online calibration, self-alignment and inertial instrument error period modulation. In order to realize the above functions, high-precision and stable indexing control of the rotating mechanism is required. [0003] Scholars at home and abroad have conducted in-depth research on the problem of inertial navigation system indexing control, mainly including three control methods: PID control, slidin...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42Y02T90/00
Inventor 何金阳卓超杜建邦陈平张瑞刘国明
Owner BEIJING AEROSPACE AUTOMATIC CONTROL RES INST