Adaptive control method and system for frequency characteristics of actuation control system

Abstract

The invention relates to a self-adaptive control method for frequency characteristics of an actuation control system, belongs to the technical field of automatic control, and solves the problems that in the prior art, control parameters are difficult to set, time-frequency characteristics influence one another, and frequency characteristic type switching-on and switching-off characteristics cannot be realized. The method comprises the steps of collecting position information of a preset time sequence as original information, circularly storing and calculating an amplitude value, performing primary differential processing to obtain speed information and the amplitude value thereof, calculating a current information flow frequency based on the amplitude value, obtaining a self-adaptive adjustment coefficient according to the information flow frequency and a target frequency characteristic, and adjusting a control gain by using the coefficient. The frequency response characteristic of the system is optimized, and the control accuracy and the stability of the system are improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a method and system for adaptively controlling frequency characteristics of an actuation control system. Background Art

[0002] In the field of modern aviation and aerospace, actuation control systems play a vital role. They are responsible for accurately controlling various components of the aircraft according to instructions, such as nozzle deflection and air rudder drive, to achieve precise control of the aircraft's attitude. Electric actuation control systems have been widely used in military and civilian fields due to their high efficiency, long life and low maintenance requirements. However, with the development of technology and the increase in application needs, the performance requirements for actuation control systems are also increasing, especially in terms of tracking performance in the time domain and frequency domain.

[0003] Existing actuation control systems usually use algorithms such as PID control and state space control to achieve system control. These control algorithms can provide stable control effects in certain application scenarios, but they have obvious limitations. In particular, the control parameters of these algorithms are fixed and cannot be dynamically adjusted according to the real-time working status of the system to adapt to different control requirements. In addition, with the increasing performance requirements for actuation control systems, existing control algorithms are difficult to achieve the ideal frequency characteristics of fully tracking within the cutoff frequency and not tracking at all outside the cutoff frequency, that is, the so-called "on, off" characteristics.

[0004] Specifically, existing algorithms cannot achieve adaptive adjustment of the frequency characteristics of the actuation control system to meet the tracking and attenuation requirements in different frequency bands. For example, existing control algorithms may not provide sufficient control gain in the low frequency band, resulting in insufficient system response; while in the high frequency band, excessive gain may cause system instability. In addition, existing technologies often have difficulty in balancing time domain and frequency domain performance, and cannot achieve effective control of the strong nonlinear characteristics of the actuation control system. Summary of the invention

[0005] In view of the above analysis, an embodiment of the present invention aims to provide an adaptive control method and system for the frequency characteristics of an actuation control system, so as to solve the problems of strong nonlinearity such as the difficulty in adjusting the control parameters of the frequency characteristics of the existing actuation control system, the mutual influence of time-frequency characteristics, and the inability to realize the "on, off" characteristics of the frequency characteristics.

[0006] On the one hand, an embodiment of the present invention provides a method for adaptively controlling frequency characteristics of an actuation control system, comprising the following steps:

[0007] Collecting location information based on a preset time series as raw information;

[0008] The original information is stored cyclically based on a storage array to obtain an original information array of each cycle, and the original information amplitude of the original information array is calculated; the length of the storage array is less than the length of a preset time series;

[0009] Performing a differential processing on the original information in the original information array to obtain a differential processing array and calculating the differential processing amplitude of the differential processing array;

[0010] Based on the original information amplitude and the differential processing amplitude corresponding to the original information array, the current information flow frequency is obtained;

[0011] Obtaining an adaptive adjustment coefficient based on the current information flow frequency and the target frequency characteristics;

[0012] The control gain is adjusted using the adaptive adjustment coefficient.

[0013] As a further improvement of the present application, calculating the original information amplitude includes:

[0014] The first original information value in the original information array is defined as the initial value of the maximum value of the storage array and the minimum value of the storage array;

[0015] Based on the original information array index, traverse all the original information values ​​stored in the array and perform the following operations:

[0016] Compare the current traversed original information value with the maximum value of the original information array. If the current original information value is greater than the maximum value of the original information array, assign the current original information value to the maximum value of the original information array.

[0017] Compare the currently traversed original information value with the minimum value of the original information array. If the current original information value is less than the minimum value of the original information array, assign the current original information value to the minimum value of the original information array.

[0018] After the original information array is traversed, the difference between the maximum value and the minimum value of the original information array is calculated, and the original information amplitude is half of the difference.

[0019] As a further improvement of the present application, performing a differential processing on the original information includes:

[0020] Traversing each original information value in the storage array, calculating the speed information corresponding to each original information, including: if the storage array subscript corresponding to the current original information value is greater than or equal to 1, calculating the difference between the current original information value and the previous original information value and dividing the difference by the time interval to obtain the speed information; if the storage array subscript corresponding to the current original information value is less than 1, calculating the difference between the current original information value and the last original information value of the storage array in the previous cycle and dividing the difference by the time interval to obtain the speed information;

[0021] The original information in the storage array is cleared, and the calculated speed information is stored in the corresponding position in the storage array based on the array index to obtain a differential processing array.

[0022] As a further improvement of the present application, calculating the amplitude of a differential processing result includes:

[0023] The first bit speed information value of the primary difference processing array is defined as the initial value of the maximum value and the minimum value of the primary difference processing array;

[0024] Based on the subscript of a differential processing array, all speed information values ​​in a processing array are traversed and the following operations are performed:

[0025] Compare the currently traversed speed information value with the maximum value of the first differential processing array. If the current speed information value is greater than the maximum value of the first differential processing array, update the maximum value of the first differential processing array to the current speed information value.

[0026] Compare the currently traversed speed information value with the minimum value of the first differential processing array. If the current speed information value is less than the minimum value of the first differential processing array, update the minimum value of the first differential processing array to the current speed information value.

[0027] After completing the traversal of the primary difference processing result array, the difference between the maximum value and the minimum value of the primary difference processing array is calculated, and the amplitude of the primary difference processing result is half of the difference.

[0028] As a further improvement of the present application, the current information flow frequency is obtained as shown in calculation formula (1);

[0029]

[0030] In the formula, A v is the amplitude of the result of a differential processing; C N A is the compensation constant for primary difference processing; O is the original information amplitude; C D is the original information compensation constant; f N is the current information flow frequency.

[0031] As a further improvement of the present application, the adaptive adjustment coefficient is obtained based on the current information flow frequency and the target frequency characteristics, including:

[0032] Setting a low-frequency enhancement coefficient and a high-frequency attenuation coefficient, and setting a target cutoff frequency based on the target frequency characteristic;

[0033] Generate an adaptive adjustment coefficient based on the relationship between the current information flow frequency and the target cutoff frequency, including:

[0034] If the current information flow frequency is within the preset frequency range, the adaptive adjustment coefficient takes a value of 1;

[0035] If the current information flow frequency is less than the target cutoff frequency and is not within the preset frequency range, the adaptive adjustment coefficient is the low-frequency enhancement coefficient;

[0036] If the current information flow frequency is greater than the target cutoff frequency and is not within the preset frequency range, the adaptive adjustment coefficient takes the high frequency attenuation coefficient.

[0037] As a further improvement of the present application, the low-frequency enhancement coefficient is greater than or equal to 1, the high-frequency attenuation coefficient is greater than 0 and less than 1, and the preset frequency range is 63.1 to 64.1 Hz;

[0038] The primary differential processing compensation constant and the original information compensation constant are greater than or equal to 0.

[0039] As a further improvement of the present application, cyclically storing the original information includes:

[0040] Initialize the storage array, clear the storage array and set the initial value of the storage array index to 0 for each loop;

[0041] According to the preset time series order, starting from the first bit of the storage array, the original information is assigned to the storage array in sequence, and the subscript of each bit of the storage array is increased by 1;

[0042] If the storage array index is equal to or exceeds the storage array length, the original information in the storage array and the corresponding storage array index are recorded and the storage array is initialized;

[0043] The differential processing result corresponding to the original information is stored in the corresponding position in the storage array, completing a storage cycle of the original information;

[0044] In the next loop, the value is assigned to the storage array starting from the starting position of the current unprocessed original information sequence, and the storage array index is updated, and the loop is repeated until all the original information is processed.

[0045] As a further improvement of the present application, adjusting the control gain by using the adaptive adjustment coefficient includes:

[0046] The adaptive adjustment coefficient is multiplied by the original control amount of the actuation control system to obtain the control gain;

[0047] The closed-loop frequency characteristics of the actuation control system are controlled based on the control gain.

[0048] On the other hand, an embodiment of the present invention provides an actuation control system frequency characteristic adaptive control system, comprising:

[0049] The original information collection module is used to collect the location information based on the preset time series as the original information;

[0050] The original information amplitude calculation module is used to store the original information based on the storage array in a loop, obtain the original information array of each loop, and calculate the original information amplitude of the original information array; the length of the storage array is less than the length of the preset time series;

[0051] A primary differential processing module, used for performing a primary differential processing on the original information in the original information array to obtain a primary differential processing array and calculating a differential processing amplitude of the primary differential processing array;

[0052] An information flow frequency calculation module, used for obtaining the current information flow frequency based on the original information amplitude and the differential processing amplitude corresponding to the original information array;

[0053] An adaptive adjustment coefficient calculation module, used to obtain an adaptive adjustment coefficient based on the current information flow frequency and the target frequency characteristics;

[0054] The adjustment module is used to adjust the control gain using the adaptive adjustment coefficient.

[0055] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0056] 1. The present invention saves original information by cyclically using a storage array, thereby avoiding redundant storage of a large amount of data, thereby greatly saving storage space, not only reducing the required memory volume, but also improving the efficiency of control parameter setting in the actuation control system and reducing the system's demand for storage resources.

[0057] 2. By using the circular storage array method, the latest data can be quickly accessed and processed, ensuring the real-time performance of the actuation control system, enabling the system to respond promptly to external commands and changes in internal states, significantly improving the system's response speed and control accuracy, and solving the problem of mutual influence between time-frequency characteristics.

[0058] 3. By calculating the amplitude of the original information array and the result of a differential processing, the frequency of the current information flow is calculated, and the adaptive adjustment coefficient is obtained in combination with the target frequency characteristics to achieve adaptive adjustment of the control gain, thereby optimizing the frequency response characteristics of the system and achieving frequency characteristics such as "on and off" characteristics.

[0059] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The accompanying drawings are only used for the purpose of illustrating specific embodiments and are not to be considered as limiting the present invention. In the entire drawings, the same reference symbols represent the same components;

[0061] Figure 1 A schematic flow chart of a method for adaptively controlling frequency characteristics of an actuation control system provided by an embodiment of the present invention;

[0062] Figure 2 A schematic diagram of the structure of a frequency characteristic adaptive control system for an actuation control system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0063] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0064] A specific embodiment of the present invention discloses a method for adaptively controlling the frequency characteristics of an actuation control system. Figure 1 The method comprises the following steps:

[0065] Step 101, collecting location information based on a preset time series as original information;

[0066] It should be noted that position information refers to the physical position data of certain key components in the actuation control system. For example, in the actuation control system of an aircraft, position information may include the angle of the control surface, the deflection angle of the nozzle, etc. The preset time series refers to a time range or a series of time points pre-defined when designing the actuation control system, which is used to collect data at specific time intervals. The time series can be determined based on the performance requirements and control strategies of the system. For example, if the system needs to respond quickly, the preset time series may have a shorter time interval; if the system changes slowly, the time interval may be longer.

[0067] Step 102, cyclically storing the original information based on the storage array, obtaining the original information array of each cycle, and calculating the original information amplitude of the original information array; the length of the storage array is less than the length of the preset time series;

[0068] A storage array is a data structure used to store raw information collected within a certain time series. The length of the storage array is the number of data information that can be stored. Raw information is usually very long and cannot be stored from beginning to end at once. When using a storage array for cyclic storage, the length of the storage array can be determined based on the time series, system performance requirements, or control strategy. Only the latest data point is saved each time, rather than the data of the entire time series. When the storage array is full, the new data point will overwrite the old data point, realizing cyclic storage, which helps save storage space and ensures that the system always processes the latest information.

[0069] In some embodiments, the steps of calculating the original information amplitude are as follows:

[0070] 1. Define the first original information value in the original information array as the initial value of the maximum value of the storage array and the minimum value of the storage array;

[0071] 2. Traverse all the original information values ​​in the storage array based on the original information array index and perform the following operations:

[0072] 3. Compare the current traversed original information value with the maximum value of the original information array. If the current original information value is greater than the maximum value of the original information array, assign the current original information value to the maximum value of the original information array.

[0073] 4. Compare the current traversed original information value with the minimum value of the original information array. If the current original information value is less than the minimum value of the original information array, assign the current original information value to the minimum value of the original information array.

[0074] It should be noted that, in this implementation mode, 3 and 4 are not used as restrictions on the execution order, and 3 and 4 can be performed in parallel or in the order of 3 first and 4 second or 4 first and 3 second.

[0075] 5. After completing the traversal of the original information array, calculate the difference between the maximum value and the minimum value of the original information array, and the original information amplitude is half of the difference.

[0076] Specifically, the value of the first bit in the original information array is assigned to two variables at the same time: the maximum value of the storage array (MaxOriginalValue) and the minimum value of the storage array (MinOriginalValue). The value of the first bit in the original information array is set as the initial value of the two variables.

[0077] When traversing, you can use a loop structure, such as a for loop, starting from the second position of the array and traversing all the data stored in the array to find the maximum and minimum values.

[0078] In the loop, for each data, compare its value with the currently recorded MaxOriginalValue. If the value of the current original information is greater than MaxOriginalValue, assign this new value to MaxOriginalValue. After the traversal is completed, MaxOriginalValue records the maximum value of all the original information in the array.

[0079] Similarly, compare the current data value with MinOriginalValue. If the current original information value is less than MinOriginalValue, assign the new value to MinOriginalValue. After the traversal is completed, MinOriginalValue records the minimum value of all original information in the array.

[0080] In summary, when the loop is complete, all original information values ​​in the array have been checked, and MaxOriginalValue and MinOriginalValue are updated to the maximum and minimum values ​​found during the traversal process.

[0081] Calculate the difference between MaxOriginalValue and MinOriginalValue. This difference represents the maximum range of change of the original information value recorded in the array. Divide this difference by 2 to get the amplitude of the original information (OriginalAmplitude). The calculated amplitude of the original information is a quantitative indicator of the change of the original information, which can reflect the fluctuation or change amplitude of the signal.

[0082] Step 103, performing a differential processing on the original information in the original information array to obtain a differential processing array and calculating the differential processing amplitude of the differential processing array;

[0083] Specifically, the steps of performing a differential processing on the original information are as follows:

[0084] Traversing each original information value in the storage array, calculating the speed information corresponding to each original information through a differential process, including: if the storage array subscript corresponding to the current original information value is greater than or equal to 1, calculating the difference between the current original information value and the previous original information value and dividing the difference by the time interval to obtain the speed information; if the storage array subscript corresponding to the current original information value is less than 1, calculating the difference between the current original information value and the last original information value of the storage array in the previous cycle and dividing the difference by the time interval to obtain the speed information;

[0085] The original information in the storage array is cleared, and the calculated speed information is stored in the corresponding position in the storage array based on the array index to obtain a differential processing array.

[0086] During implementation, starting from the second bit of the storage array, for each original information value, calculate the difference between it and the adjacent previous original information value, and divide this difference by the time interval between the two original information, and thus obtain the speed information corresponding to the original information, that is, the change in position information per unit time. If the current original information is the first bit in the array, since there is no previous data point, the speed information is obtained by dividing the difference between the original information value of the last bit of the storage array in the previous cycle by the time interval.

[0087] After all speed information calculations are completed, the original information in the storage array is cleared, and the calculated speed information is stored in the corresponding position in the array. The original information is replaced by the speed information, and the storage array is actually transformed into a differential processing array, which records the rate of change of the original information at each time point.

[0088] In some embodiments, calculating the amplitude of a differential processing result includes the following steps:

[0089] 1. Define the first bit speed information value of the primary differential processing array as the initial value of the maximum value and the minimum value of the primary differential processing array;

[0090] 2. Based on the subscript of the first difference processing array, traverse all the speed information values ​​in the first processing array and perform the following operations:

[0091] 3. Compare the currently traversed speed information value with the maximum value of the first differential processing array. If the current speed information value is greater than the maximum value of the first differential processing array, update the maximum value of the first differential processing array to the current speed information value.

[0092] 4. Compare the currently traversed speed information value with the minimum value of the first differential processing array. If the current speed information value is less than the minimum value of the first differential processing array, update the minimum value of the first differential processing array to the current speed information value.

[0093] It should be noted that, in this implementation mode, 3 and 4 are not used as restrictions on the execution order, and 3 and 4 can be performed in parallel or in the order of 3 first and 4 second or 4 first and 3 second.

[0094] 5. After completing the traversal of the primary difference processing result array, calculate the difference between the maximum value and the minimum value of the primary difference processing array, and the amplitude of the primary difference processing result is half of the difference.

[0095] During implementation, the first bit of velocity information value is first taken out from the primary differential processing array and assigned to two variables at the same time: the maximum value (MaxVelocity) and the minimum value (MinVelocity) of the primary differential processing array.

[0096] Use a loop structure, such as a for loop, to start from the second position of the array and traverse all the speed information values ​​in the difference processing array. In the loop, for each speed information value, perform the following operations:

[0097] Compare the current velocity information value with MaxVelocity.

[0098] If the current speed information value is greater than MaxVelocity, then MaxVelocity is updated to the current speed information value.

[0099] Compare the current velocity information value with MinVelocity.

[0100] If the current speed information value is less than MinVelocity, MinVelocity is updated to the current speed information value.

[0101] When the loop ends, it means that all the velocity information values ​​in the difference processing array have been checked once, and MaxVelocity and MinVelocity are updated to the maximum and minimum velocity information values ​​found during the traversal process.

[0102] Calculate the difference between MaxVelocity and MinVelocity, which represents the entire range of velocity information in the array. Divide this difference by 2 to get the amplitude of the first differential processing result (VelocityAmplitude), which is half the difference between the maximum and minimum values. The calculated amplitude of the first differential processing result VelocityAmplitude is a quantitative indicator of the change in velocity information, which can reflect the fluctuation or change of velocity information.

[0103] In some embodiments, the steps of cyclically storing the original information are as follows:

[0104] 1. Initialize the storage array, clear the storage array and set the initial value of the storage array subscript for each loop to 0;

[0105] Specifically, before storing the original information, the storage array must first be initialized, all the data stored in it is initialized to zero, and the storage array subscript is set to 0. The storage array subscript is an integer variable that points to the current storage location in the storage array. In implementation, the storage array subscript usually starts from 0, which ensures that the data can be stored in the array in order and can be accurately accessed and updated.

[0106] 2. According to the preset time series order, starting from the first bit of the storage array, the original information is assigned to the storage array in sequence, and the subscript of each bit of the storage array is incremented by 1;

[0107] When storing, starting from the first bit, the original information is assigned to the storage array in sequence according to the order of the preset time series. Whenever new original information arrives, the corresponding position of the storage array is updated, and whenever a new original information is collected and stored in the array, the subscript is incremented by 1. This increment process ensures that subsequent data can be stored sequentially in the next free position of the array.

[0108] 3. If the storage array index is equal to or exceeds the storage array length, the original information in the storage array and the corresponding storage array index are recorded and the storage array is initialized;

[0109] When the subscript of the storage array increases to the length of the array, it means that the end of the storage array has been reached, that is, the storage array is full. At this time, the storage array will be initialized again and the subscript will be reset to 0 so that the new data can overwrite the old data.

[0110] 4. Store the differential processing result corresponding to the original information in the corresponding position in the storage array, completing a storage cycle of the original information;

[0111] Based on the original information recorded in the storage array, the system performs a differential processing, calculates the speed information, and stores these differential processing results back to the corresponding positions of the storage array.

[0112] 5. In the next loop, continue to assign values ​​to the storage array from the starting position of the current unprocessed original information sequence, and update the storage array index, and loop until all the original information has been processed.

[0113] After completing a storage cycle, the system continues to update the storage array index from the starting position of the current unprocessed original information sequence, and continues to assign the newly collected original information to the storage array, and repeats this cycle until all the original information has been processed.

[0114] Step 104, obtaining the current information flow frequency based on the original information amplitude and the differential processing amplitude corresponding to the original information array;

[0115] Specifically, the current information flow frequency is obtained as shown in formula (1);

[0116]

[0117] In the formula, A v is the amplitude of the result of a differential processing; C N A is the compensation constant for primary difference processing; O is the original information amplitude; C D is the original information compensation constant; f N is the current information flow frequency.

[0118] Preferably, the value range of the primary differential processing compensation constant is greater than or equal to 0, and the typical value is 0. The value range of the original information compensation constant is greater than or equal to 0, and the typical value is 0.001.

[0119] Step 105, obtaining an adaptive adjustment coefficient based on the current information flow frequency and the target frequency characteristics;

[0120] The steps of obtaining the adaptive adjustment coefficient based on the current information flow frequency and the target frequency characteristics include:

[0121] 1. Setting a low-frequency enhancement coefficient and a high-frequency attenuation coefficient, and setting a target cutoff frequency based on the target frequency characteristics;

[0122] It should be noted that the target cutoff frequency is the reference frequency of the actuation control system, which is used to distinguish the system's response area to signals of different frequencies. Below the target cutoff frequency, the system will track the input signal as much as possible; above this frequency, the system will suppress or ignore the input signal to avoid unnecessary responses and potential instability.

[0123] Specifically, the target cutoff frequency can be set by analyzing the stability margin and frequency response characteristics of the target frequency characteristics. The stability margin refers to the maximum interference or change capability of the system to maintain stability. By analyzing the stability margin of the system, the tolerance of the system to different frequency inputs can be determined. The frequency response characteristic is the system's ability to respond to different frequency signals. By analyzing the frequency response characteristics, the gain and phase changes of the system at different frequencies can be obtained.

[0124] In some embodiments, when setting the target cutoff frequency, it is also necessary to consider the specific performance requirements of the system, such as fast response, stability, and sensitivity to specific frequency signals, etc. The specific performance requirements can be referred to the product development task book.

[0125] 2. Generate an adaptive adjustment coefficient based on the relationship between the current information flow frequency and the target cutoff frequency, including:

[0126] If the current information flow frequency is within the preset frequency range, the adaptive adjustment coefficient takes a value of 1;

[0127] If the current information flow frequency is less than the target cutoff frequency and is not within the preset frequency range, the adaptive adjustment coefficient is the low-frequency enhancement coefficient;

[0128] If the current information flow frequency is greater than the target cutoff frequency and is not within the preset frequency range, the adaptive adjustment coefficient takes the high frequency attenuation coefficient.

[0129] It should be noted that the preset frequency range is the system rejection frequency range, and the system neither enhances nor attenuates the signal within the system rejection frequency range. Since the coefficient cannot be adjusted within the system rejection frequency, the adaptive adjustment coefficient can only be 1.

[0130] Preferably, the system rejection frequency range is 63.1 to 64.1 Hz. In order to improve robustness, the value interval of the system rejection frequency range can be enlarged or reduced with 63.6 Hz as the center. The calculation of the system rejection frequency range can be based on the analysis and testing of the dynamic characteristics of the system, and through experiments or simulations, determine at which frequencies the system has the best response performance and at which frequencies adjustment needs to be avoided to prevent instability.

[0131] If the current information flow frequency is less than the target cutoff frequency and is not within the preset frequency range, the adaptive adjustment coefficient takes the low-frequency enhancement coefficient to enhance the low-frequency response of the system and improve the sensitivity to small changes. If the current information flow frequency is greater than the target cutoff frequency and is not within the preset frequency range, the adaptive adjustment coefficient takes the high-frequency attenuation coefficient to reduce the high-frequency response of the system to avoid overreaction and possible system instability.

[0132] Preferably, the value range of the low-frequency enhancement coefficient is greater than or equal to 1, and the typical value is 1.5; the value range of the high-frequency attenuation coefficient is greater than 0 and less than 1, and the typical value is 0.5.

[0133] In some embodiments, the value ranges of the low frequency enhancement coefficient and the high frequency attenuation coefficient can be adjusted according to system requirements. Based on the target frequency characteristics, if the system requires that the low frequency does not follow and the high frequency follows, the value range of the low frequency enhancement coefficient is greater than 0 and less than 1, and the value range of the high frequency attenuation coefficient is greater than 1.

[0134] Step 106: Use the adaptive adjustment coefficient to adjust the control gain.

[0135] Specifically, adjusting the control gain includes the following steps:

[0136] The adaptive adjustment coefficient is multiplied by the original control amount of the actuation control system to obtain the control gain;

[0137] The closed-loop frequency characteristics of the actuation control system are controlled based on the control gain.

[0138] The adjusted control gain is obtained by multiplying the adaptive adjustment coefficient with the original control amount of the actuation control system. Based on the obtained control gain, the closed-loop frequency characteristic of the actuation control system is controlled to achieve a more accurate frequency response.

[0139] In some embodiments, in order to further improve system performance, an iterative optimization step of the adaptive adjustment coefficient may also be included:

[0140] First, an initial adjustment coefficient k is set. Through iteration, the current adjustment coefficient is multiplied by a fixed iteration coefficient, such as 1.1, to gradually approach the target frequency characteristics. After each iteration, the frequency performance of the system is evaluated, including indicators such as stability, response speed and accuracy.

[0141] If the performance improvement is no longer significant or does not reach the expected improvement during the iteration process, it is considered that the optimal performance state has been reached or reached. At this time, you can choose to stop the iteration, or adjust the iteration coefficient, such as reducing 1.1 to 1.05, and then continue to iterate until the system performance meets the design specifications. After determining the appropriate adaptive adjustment coefficient, recalculate the control gain and apply it to the actuation control system.

[0142] Compared with the prior art, the present embodiment provides an adaptive control method for the frequency characteristics of an actuation control system. First, by cyclically using a storage array to save original information, redundant storage of a large amount of data is effectively avoided, storage space is greatly saved, the memory volume required by the system is reduced, and data processing efficiency is improved; secondly, by utilizing a cyclic storage array, the latest data can be quickly accessed and processed, and external instructions and changes in internal states can be quickly responded to, thereby improving the response speed and control accuracy of the system and meeting the demand for fast dynamic response; finally, the frequency of the current information flow is obtained by calculating the amplitude of the original information array and the result of a differential processing, and in combination with the target frequency characteristics, the control gain is accurately adjusted by the adaptive adjustment coefficient, so as to realize the frequency characteristic type "on, off" characteristics, and improve the control accuracy and system stability, so that the actuation control system can better adapt to different working conditions and performance requirements.

[0143] Another specific embodiment of the present invention discloses an actuation control system frequency characteristic adaptive control system, such as Figure 2 As shown, the system 200 includes:

[0144] The original information collection module 201 is used to collect location information based on a preset time series as original information;

[0145] The original information amplitude calculation module 202 is used to store the original information based on the storage array in a loop, obtain the original information array of each loop, and calculate the original information amplitude of the original information array; the length of the storage array is less than the length of the preset time series;

[0146] A primary difference processing module 203, used to perform a primary difference processing on the original information in the original information array to obtain a primary difference processing array and calculate the differential processing amplitude of the primary difference processing array;

[0147] The information flow frequency calculation module 204 is used to obtain the current information flow frequency based on the original information amplitude and the differential processing amplitude corresponding to the original information array;

[0148] An adaptive adjustment coefficient calculation module 205 is used to obtain an adaptive adjustment coefficient based on the current information flow frequency and the target frequency characteristics;

[0149] The adjustment module 206 is used to adjust the control gain using the adaptive adjustment coefficient.

[0150] It can be understood that the frequency characteristic adaptive control system of the actuation control system is similar to the reference Figure 1 The various processes in the described method for adaptive control of the frequency characteristics of the actuation control system correspond to each other and will not be repeated here.

[0151] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0152] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for adaptively controlling frequency characteristics of an actuation control system, characterized in that: The following steps are involved: Collecting location information based on a preset time series as raw information; The original information is stored cyclically based on a storage array to obtain an original information array of each cycle, and the original information amplitude of the original information array is calculated; the length of the storage array is less than the length of a preset time series; Performing a differential processing on the original information in the original information array to obtain a differential processing array and calculating the differential processing amplitude of the differential processing array; Based on the original information amplitude and the differential processing amplitude corresponding to the original information array, the current information flow frequency is obtained; Obtaining an adaptive adjustment coefficient based on the current information flow frequency and the target frequency characteristics; The control gain is adjusted using the adaptive adjustment coefficient.

2. The method according to claim 1, characterized in that Calculating the raw information amplitude includes: The first original information value in the original information array is defined as the initial value of the maximum value of the storage array and the minimum value of the storage array; Based on the original information array index, traverse all the original information values ​​stored in the array and perform the following operations: Compare the current traversed original information value with the maximum value of the original information array. If the current original information value is greater than the maximum value of the original information array, assign the current original information value to the maximum value of the original information array. Compare the currently traversed original information value with the minimum value of the original information array. If the current original information value is less than the minimum value of the original information array, assign the current original information value to the minimum value of the original information array. After the original information array is traversed, the difference between the maximum value and the minimum value of the original information array is calculated, and the original information amplitude is half of the difference.

3. The method according to claim 2, characterized in that A differential processing of the original information includes: Traversing each original information value in the storage array, calculating the speed information corresponding to each original information, including: if the storage array subscript corresponding to the current original information value is greater than or equal to 1, calculating the difference between the current original information value and the previous original information value and dividing the difference by the time interval to obtain the speed information; if the storage array subscript corresponding to the current original information value is less than 1, calculating the difference between the current original information value and the last original information value of the storage array in the previous cycle and dividing the difference by the time interval to obtain the speed information; The original information in the storage array is cleared, and the calculated speed information is stored in the corresponding position in the storage array based on the array index to obtain a differential processing array.

4. The method according to claim 3, characterized in that Calculating the amplitude of a difference processing result includes: The first bit speed information value of the primary difference processing array is defined as the initial value of the maximum value and the minimum value of the primary difference processing array; Based on the subscript of a differential processing array, all speed information values ​​in a processing array are traversed and the following operations are performed: Compare the currently traversed speed information value with the maximum value of the first differential processing array. If the current speed information value is greater than the maximum value of the first differential processing array, update the maximum value of the first differential processing array to the current speed information value. Compare the currently traversed speed information value with the minimum value of the first differential processing array. If the current speed information value is less than the minimum value of the first differential processing array, update the minimum value of the first differential processing array to the current speed information value. After completing the traversal of the primary difference processing result array, the difference between the maximum value and the minimum value of the primary difference processing array is calculated, and the amplitude of the primary difference processing result is half of the difference.

5. The method according to claim 1, characterized in that The current information flow frequency is obtained as shown in formula (1); In the formula, A v is the amplitude of the result of a differential processing; C N A is the compensation constant for primary difference processing; O is the original information amplitude; C D is the original information compensation constant; f N is the current information flow frequency.

6. The method according to claim 1, characterized in that The adaptive adjustment coefficients based on the current information flow frequency and target frequency characteristics include: Setting a low-frequency enhancement coefficient and a high-frequency attenuation coefficient, and setting a target cutoff frequency based on the target frequency characteristic; Generate an adaptive adjustment coefficient based on the relationship between the current information flow frequency and the target cutoff frequency, including: If the current information flow frequency is within the preset frequency range, the adaptive adjustment coefficient takes a value of 1; If the current information flow frequency is less than the target cutoff frequency and is not within the preset frequency range, the adaptive adjustment coefficient is the low-frequency enhancement coefficient; If the current information flow frequency is greater than the target cutoff frequency and is not within the preset frequency range, the adaptive adjustment coefficient takes the high frequency attenuation coefficient.

7. The method according to claim 6, characterized in that The low frequency enhancement coefficient is greater than or equal to 1, the high frequency attenuation coefficient is greater than 0 and less than 1, and the preset frequency range is 63.1 to 64.1 Hz; The primary differential processing compensation constant and the original information compensation constant are greater than or equal to 0.

8. The method according to claim 1, characterized in that The original information stored in the loop includes: Initialize the storage array, clear the storage array and set the initial value of the storage array index to 0 for each loop; According to the preset time series order, starting from the first bit of the storage array, the original information is assigned to the storage array in sequence, and the subscript of each bit of the storage array is increased by 1; If the storage array index is equal to or exceeds the storage array length, the original information in the storage array and the corresponding storage array index are recorded and the storage array is initialized; The differential processing result corresponding to the original information is stored in the corresponding position in the storage array, completing a storage cycle of the original information; In the next loop, the value is assigned to the storage array starting from the starting position of the current unprocessed original information sequence, and the storage array index is updated, and the loop is repeated until all the original information is processed.

9. The method according to claim 1, characterized in that: The use of adaptive adjustment coefficients to adjust the control gain includes: The adaptive adjustment coefficient is multiplied by the original control amount of the actuation control system to obtain the control gain; The closed-loop frequency characteristics of the actuation control system are controlled based on the control gain.

10. An actuation control system frequency characteristic adaptive control system, comprising: The original information collection module is used to collect the location information based on the preset time series as the original information; The original information amplitude calculation module is used to store the original information based on the storage array in a loop, obtain the original information array of each loop, and calculate the original information amplitude of the original information array; the length of the storage array is less than the length of the preset time series; A primary differential processing module, used for performing a primary differential processing on the original information in the original information array to obtain a primary differential processing array and calculating a differential processing amplitude of the primary differential processing array; An information flow frequency calculation module, used for obtaining the current information flow frequency based on the original information amplitude and the differential processing amplitude corresponding to the original information array; An adaptive adjustment coefficient calculation module, used to obtain an adaptive adjustment coefficient based on the current information flow frequency and the target frequency characteristics; The adjustment module is used to adjust the control gain using the adaptive adjustment coefficient.

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