Self-anti-interference control method, system and device

Abstract

The invention discloses a self-anti-interference control method, system and device, the method is applied to a superconducting cavity low-level control system, and the method comprises the steps: obtaining an input voltage value and an output voltage value of a superconducting cavity at the current moment; inputting the input voltage value and the output voltage value into a pre-constructed extended state observer so as to predict the uncertain disturbance of the superconducting cavity at the next moment, and obtaining an interference prediction value; obtaining a control signal of the superconducting cavity at the next moment according to the interference predicted value and a pre-constructed error feedback control rate; model parameters are introduced into the extended state observer, so that the prediction burden of the extended state observer is reduced, the prediction precision and response speed of the extended state observer are improved, the real-time performance and accuracy of disturbance estimation of the superconducting cavity low-level control system are improved, and the disturbance estimation accuracy of the superconducting cavity low-level control system is improved. And the control efficiency of the superconducting cavity low-level control system is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of superconducting cavity low-level control, and in particular to a self-anti-interference control method, system and device, and also to a computer-readable storage medium and a computer program product. Background Art

[0002] Superconducting cavity is the abbreviation of radio frequency superconducting accelerating cavity. Superconducting cavity has the advantages of high acceleration efficiency and low high-frequency heat loss. Superconducting cavity has become the core component of large scientific facilities such as linear collider, free electron laser, spallation neutron source, and advanced light source. Superconducting cavity low-level control is one of the key technologies to ensure the stable operation of superconducting accelerators. It involves digital technology of high-frequency and low-level control. Compared with traditional analog technology, this technology has higher integration, modularization and stability.

[0003] There are many uncertain disturbances in the superconducting cavity low-level control system, such as mutual coupling and beam current caused by detuning, inaccurate model, power source, mechanical oscillation, etc.; PID feedback controller is usually used in the existing superconducting cavity low-level control system to estimate and compensate for the disturbances in the system in real time, but when facing the superconducting cavity low-level control system with multiple uncertain interferences, the PID feedback controller cannot accurately estimate these disturbances; in order to improve the accuracy of the estimation, some methods have emerged to use active disturbance rejection controller (ADRC) to estimate and compensate for the disturbances in the system in real time, but due to the multiple uncertain disturbances in the superconducting cavity low-level control system, the prediction burden of the extended state observer included in the ADRC is large, so that the real-time and accuracy of the disturbance estimation cannot be guaranteed. Therefore, it is impossible to achieve accurate control of the system and it is difficult to achieve an ideal control effect.

[0004] Therefore, there is an urgent need for a method that can effectively improve the control efficiency of low-level control of superconducting cavities. Summary of the invention

[0005] The self-anti-interference control method provided by the present invention can effectively improve the control efficiency of low-level control of a superconducting cavity.

[0006] According to the first aspect, an embodiment provides a self-interference resistance control method, which is applied to a superconducting cavity low-level control system, and the method includes: obtaining an input voltage value and an output voltage value of the superconducting cavity at a current moment; inputting the input voltage value and the output voltage value into a pre-constructed expansion state observer to predict the uncertain disturbance of the superconducting cavity at the next moment, and obtaining an interference prediction value, wherein the expansion state observer at least includes model parameters, and the model parameters, the input voltage value and the uncertain disturbance conform to a pre-constructed first mathematical model of the superconducting cavity; according to the interference prediction value and a pre-constructed error feedback control rate, a control signal of the superconducting cavity at the next moment is obtained, and the input voltage value of the superconducting cavity at the next moment is disturbance compensated by the control signal.

[0007] In some embodiments, the expression of the extended state observer is: in, is the predicted value of the output voltage of the superconducting cavity at the next moment, is the interference prediction value, -by is the model parameter, b is the half bandwidth of the superconducting cavity, y is the output voltage value, the output voltage value includes at least one of the real part of the output voltage value and the imaginary part of the output voltage value, u is the input voltage value, the input voltage value includes at least one of the real part of the input voltage value and the imaginary part of the input voltage value, l1 is the first adjustment parameter of the expanded state observer, l2 is the second adjustment parameter of the expanded state observer, and the bandwidth of the expanded state observer can be adjusted by adjusting l1 and / or l2.

[0008] In some embodiments, the error feedback control rate is expressed as: Wherein, u1 is the control signal, K p is the preset proportional amplification parameter, r is the preset reference value, y is the output voltage value, is the interference prediction value, and b is the half bandwidth of the superconducting cavity.

[0009] In some embodiments, the first mathematical model is determined by: constructing a second mathematical model of the superconducting cavity based on the input voltage value and the output voltage value; constructing the first mathematical model according to the second mathematical model, wherein the first mathematical model at least includes known parameter items, and the known parameter items are determined according to the half-bandwidth of the superconducting cavity and the output voltage value; determining the known parameter items in the first mathematical model as the model parameters.

[0010] In some embodiments, the expression of the second mathematical model is: ,in, is the real part of the output voltage value, is the imaginary part of the output voltage value, is the half bandwidth of the superconducting cavity, is the detuning frequency of the superconducting cavity, is the real part of the voltage generated by the beam on the cavity of the superconducting cavity, is the imaginary part of the voltage generated by the beam on the cavity of the superconducting cavity, is the real part of the input voltage value, is the imaginary part of the input voltage value.

[0011] In some embodiments, the expression of the first mathematical model is: y'=-by+bu+f(d), wherein y' is the first-order derivative of y, y is the output voltage value, -by is the known parameter term, b is the half-bandwidth of the superconducting cavity, u is the input voltage value, d is the beam voltage, and the beam voltage includes at least one of the real part of the voltage generated by the beam on the cavity of the superconducting cavity and the imaginary part of the voltage generated by the beam on the cavity of the superconducting cavity, and f(d) is the uncertain disturbance.

[0012] According to the second aspect, an embodiment provides an anti-interference control system, including: a voltage value acquisition module, used to obtain the input voltage value and the output voltage value of the superconducting cavity at the current moment; an interference prediction module, used to input the input voltage value and the output voltage value into a pre-constructed expansion state observer to predict the uncertain disturbance of the superconducting cavity at the next moment, and obtain an interference prediction value, wherein the expansion state observer at least includes model parameters, and the model parameters, the input voltage value and the uncertain disturbance conform to the pre-constructed first mathematical model of the superconducting cavity; a control signal generation module, which obtains the control signal of the superconducting cavity at the next moment according to the interference prediction value and the pre-constructed error feedback control rate, and performs disturbance compensation on the output voltage value of the superconducting cavity at the next moment through the control signal.

[0013] According to the third aspect, an embodiment provides an anti-interference control device, comprising: a memory for storing a computer program; a processor for implementing the aforementioned method by executing the computer program stored in the memory.

[0014] According to a fourth aspect, an embodiment provides a computer-readable storage medium, on which a computer program is stored, and the computer program can be executed by a processor to implement the method as described above.

[0015] According to the fifth aspect, an embodiment provides a computer program product, comprising a computer program and / or instructions, wherein the computer program and / or instructions implement the aforementioned method when executed by a processor.

[0016] According to the method of the above embodiment, the acquired input voltage value and output voltage value are input into a pre-constructed expanded state observer to predict the uncertain disturbance of the superconducting cavity at the next moment, and an interference prediction value is obtained. Since model parameters are introduced into the expanded state observer, the model parameters, input voltage values ​​and uncertain disturbances conform to the pre-constructed first mathematical model of the superconducting cavity, which reduces the prediction burden of the expanded state observer and improves the prediction accuracy and response speed of the expanded state observer, thereby improving the real-time and accuracy of the disturbance estimation of the superconducting cavity low-level control system, and effectively improving the control efficiency of the superconducting cavity low-level control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flow chart of the anti-interference control method provided by the present invention;

[0018] Figure 2 A flowchart for determining a first mathematical model according to an embodiment;

[0019] Figure 3 A structural diagram of the self-interference rejection control system provided by the present invention;

[0020] Figure 4 A structural diagram of the self-interference rejection control device provided by the present invention;

[0021] Figure 5 A structural diagram of a computer-readable storage medium provided by the present invention; DETAILED DESCRIPTION

[0022] The present invention is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are for making the present application better understood. However, those skilled in the art can easily recognize that some features can be omitted in different situations, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification, this is to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0023] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0024] The serial numbers assigned to the components in this article, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning.

[0025] The terms involved in the present invention are introduced as follows:

[0026] Superconducting cavity: It is the core component of the superconducting charged particle accelerator. It uses the superconducting properties of superconducting materials at low temperatures to bind electromagnetic energy in the cavity to form a high-frequency electromagnetic field, accelerate charged particles, and enable the particle accelerator to obtain a high-quality charged particle beam.

[0027] Beam: Also known as charged particle beam, it refers to a large number of particles in basically overall orderly motion, which is in sharp contrast to the thermal motion of particle groups. Beams are widely used in modern science and technology. For example, in particle accelerators, beams are used to collect, transmit and accelerate primary and secondary particle flows; in electron beam devices, such as cathode ray tubes, camera tubes, oscilloscopes, etc., beams are used for display and measurement.

[0028] Superconducting cavity low-level control system: provides a control signal with high precision, high stability and high reliability for the power source, and controls the frequency, amplitude and phase of the signal according to the set value of the working mode, as well as the amplification process in the power source and the tuning state of the acceleration cavity, so that the power source can establish a voltage in the superconducting cavity that meets the requirements of beam injection and acceleration. Therefore, the stability, accuracy and robustness of the low-level control system of the superconducting cavity are crucial to ensure the efficient and safe operation of the particle accelerator.

[0029] Please refer to Figure 1 In one embodiment of the present invention, a self-interference rejection control method is provided. The method is applied to a superconducting cavity low-level control system. The method includes:

[0030] S10: Obtain the input voltage value and output voltage value of the superconducting cavity at the current moment.

[0031] In some embodiments, in order to ensure the stability of the output voltage of the superconducting cavity so as to avoid excessive errors in the acceleration of particles, an active interference rejection controller (ADRC) is used to estimate and compensate for uncertain disturbances in the system in real time to achieve precise control of the system. The active interference rejection controller includes three parts: a tracking differentiator, an extended state observer, and an error feedback control rate. Among them, the tracking differentiator is used to arrange the transition process, give a reasonable control signal, and solve the contradiction between response speed and overshoot; the extended state observer is used to observe the system state and disturbance; the error feedback control rate calculates the control input based on the observed system state and disturbance information.

[0032] In some embodiments, since the first mathematical model of the constructed superconducting cavity is a first-order mathematical model, the self-interference rejection controller only includes two parts: an extended state observer and an error feedback control law, and does not include a tracking differentiator.

[0033] S20: Inputting the input voltage value and the output voltage value into a pre-constructed extended state observer to predict the uncertain disturbance of the superconducting cavity at the next moment, and obtaining a disturbance prediction value, wherein the extended state observer includes at least model parameters, and the model parameters, the input voltage value and the uncertain disturbance conform to the pre-constructed first mathematical model of the superconducting cavity.

[0034] In some embodiments, a first mathematical model is established by analyzing the mathematical model of the superconducting cavity, and model parameters are provided to the extended state observer according to the first mathematical model, thereby reducing the prediction burden of the extended state observer and improving the prediction accuracy and response speed of the extended state observer.

[0035] In some embodiments, the expression of the extended state observer is:

[0036]

[0037] in, is the predicted value of the output voltage of the superconducting cavity at the next moment, is the interference prediction value, -by is the model parameter, b is the half bandwidth of the superconducting cavity, y is the output voltage value, the output voltage value includes at least one of the real part of the output voltage value and the imaginary part of the output voltage value, u is the input voltage value, the input voltage value includes at least one of the real part of the input voltage value and the imaginary part of the input voltage value, l1 is the first adjustment parameter of the expanded state observer, l2 is the second adjustment parameter of the expanded state observer, and the bandwidth of the expanded state observer can be adjusted by adjusting l1 and / or l2.

[0038] In some embodiments, such as Figure 2 As shown, the first mathematical model is determined by:

[0039] S21: Construct a second mathematical model of the superconducting cavity based on the input voltage value and the output voltage value.

[0040] In some embodiments, the second mathematical model is expressed as:

[0041]

[0042] Among them, V cr is the real part of the output voltage, V ci is the imaginary part of the output voltage, w 1 / 2 is the half bandwidth of the superconducting cavity, Δw is the detuning frequency of the superconducting cavity, V br is the real part of the voltage generated by the beam on the superconducting cavity, V bi is the imaginary part of the voltage generated by the beam on the superconducting cavity, V rfr is the real part of the input voltage value, V rfi is the imaginary part of the input voltage.

[0043] S22: constructing a first mathematical model according to the second mathematical model, wherein the first mathematical model at least includes known parameter items, and the known parameter items are determined according to the half bandwidth and output voltage value of the superconducting cavity.

[0044] In some embodiments, the expression of the first mathematical model is:

[0045] y'=-by+bu+f(d)

[0046] Wherein, y' is the first-order derivative of y, y is the output voltage value, -by is a known parameter term, b is the half bandwidth of the superconducting cavity, u is the input voltage value, d is the beam voltage, and the beam voltage includes at least one of the real part of the voltage generated by the beam on the cavity of the superconducting cavity and the imaginary part of the voltage generated by the beam on the cavity of the superconducting cavity, and f(d) is the uncertain disturbance.

[0047] In some embodiments, the uncertain disturbance f(d) includes at least mutual coupling and beam current caused by detuning, model inaccuracy, power source, mechanical oscillation, etc.

[0048] It should be noted that in the existing extended state observer, the known parameter terms are usually also put into f(d) as uncertain interference terms, and the calculated values ​​of the known parameter terms are very large, which will greatly increase the prediction burden of the extended state observer for uncertain disturbances. In this embodiment, in order to reduce the prediction burden of the extended state observer, the known parameter terms are placed in the self-interference rejection controller as deterministic interference for interference compensation.

[0049] S23: Determine the known parameter items in the first mathematical model as model parameters.

[0050] In some embodiments, the superconducting cavity is tested in advance to obtain the half-bandwidth of the superconducting cavity, and the output voltage value can be obtained through real-time acquisition, that is, the known parameter items can be accurately calculated through the obtained half-bandwidth of the superconducting cavity and the output voltage value, and therefore, the known parameter items are determined as model parameters.

[0051] S30: obtaining a control signal of the superconducting cavity at the next moment according to the interference prediction value and the pre-established error feedback control rate, and performing disturbance compensation on the input voltage value of the superconducting cavity at the next moment through the control signal.

[0052] In some embodiments, the error feedback control rate is expressed as:

[0053]

[0054] Among them, u1 is the control signal, K p is the preset proportional amplification parameter, r is the preset reference value, y is the output voltage value, is the interference prediction value, and b is the half bandwidth of the superconducting cavity.

[0055] Please refer to Figure 3 In one embodiment of the present invention, an anti-interference control system is provided, comprising: a voltage value acquisition module 10, used to acquire an input voltage value and an output voltage value of a superconducting cavity at a current moment; an interference prediction module 20, used to input the input voltage value and the output voltage value into a pre-constructed expansion state observer to predict the uncertain disturbance of the superconducting cavity at the next moment, and obtain an interference prediction value, wherein the expansion state observer at least includes model parameters, and the model parameters, the input voltage value and the uncertain disturbance conform to a pre-constructed first mathematical model of the superconducting cavity; a control signal generation module 30, which obtains a control signal of the superconducting cavity at the next moment according to the interference prediction value and a pre-constructed error feedback control rate, and performs disturbance compensation on the output voltage value of the superconducting cavity at the next moment through the control signal.

[0056] The specific implementation of the self-interference rejection control system in this embodiment is the same as the specific implementation of the aforementioned self-interference rejection control method, which will not be repeated herein.

[0057] Please refer to Figure 4 In one embodiment of the present invention, there is provided an anti-interference control device, comprising: a memory 40 for storing a computer program; a processor 50 for implementing the aforementioned method by executing the computer program stored in the memory.

[0058] Please refer to Figure 5 In one embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. The computer program can be executed by the processor 50 to implement the method as described above.

[0059] In one embodiment of the present invention, a computer program product is provided, including a computer program and / or instructions. When the computer program and / or instructions are executed by a processor, the aforementioned method is implemented.

[0060] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the concept of the present invention, some simple deductions, modifications or substitutions can be made.

Claims

1. A self-interference control method, characterized in that: The method is applied to a superconducting cavity low-level control system, and the method comprises: Obtaining an input voltage value and an output voltage value of the superconducting cavity at a current moment; Inputting the input voltage value and the output voltage value into a pre-constructed expansion state observer to predict the uncertain disturbance of the superconducting cavity at the next moment, and obtaining a disturbance prediction value, wherein the expansion state observer at least includes model parameters, and the model parameters, the input voltage value and the uncertain disturbance conform to a pre-constructed first mathematical model of the superconducting cavity; A control signal of the superconducting cavity at the next moment is obtained according to the interference prediction value and a pre-constructed error feedback control rate, and disturbance compensation is performed on an input voltage value of the superconducting cavity at the next moment through the control signal.

2. The method according to claim 1, characterized in that The expression of the extended state observer is: in, is the predicted value of the output voltage of the superconducting cavity at the next moment, is the interference prediction value, -by is the model parameter, b is the half bandwidth of the superconducting cavity, y is the output voltage value, the output voltage value includes at least one of the real part of the output voltage value and the imaginary part of the output voltage value, u is the input voltage value, the input voltage value includes at least one of the real part of the input voltage value and the imaginary part of the input voltage value, l1 is the first adjustment parameter of the expanded state observer, l2 is the second adjustment parameter of the expanded state observer, and the bandwidth of the expanded state observer can be adjusted by adjusting l1 and / or l2.

3. The method according to claim 1, characterized in that The expression of the error feedback control rate is: Among them, u1 is the control signal, K p is the preset proportional amplification parameter, r is the preset reference value, y is the output voltage value, is the interference prediction value, and b is the half bandwidth of the superconducting cavity.

4. The method according to claim 2, characterized in that The first mathematical model is determined by: constructing a second mathematical model of the superconducting cavity based on the input voltage value and the output voltage value; According to the second mathematical model, construct the first mathematical model, wherein the first mathematical model at least includes known parameter items, and the known parameter items are determined according to the half bandwidth of the superconducting cavity and the output voltage value; The known parameter items in the first mathematical model are determined as the model parameters.

5. The method according to claim 4, characterized in that The expression of the second mathematical model is: Among them, V cr is the real part of the output voltage value, V ci is the imaginary part of the output voltage value, w 1 / 2 is the half bandwidth of the superconducting cavity, Δw is the detuning frequency of the superconducting cavity, V br is the real part of the voltage generated by the beam on the cavity of the superconducting cavity, V bi is the imaginary part of the voltage generated by the beam on the cavity of the superconducting cavity, V rfr is the real part of the input voltage value, V rfi is the imaginary part of the input voltage value.

6. The method according to claim 4, characterized in that The expression of the first mathematical model is: y'=-by+bu+f(d) Wherein, y' is the first-order derivative of y, y is the output voltage value, -by is the known parameter term, b is the half bandwidth of the superconducting cavity, u is the input voltage value, d is the beam voltage, and the beam voltage includes at least one of the real part of the voltage generated by the beam on the cavity of the superconducting cavity and the imaginary part of the voltage generated by the beam on the cavity of the superconducting cavity, and f(d) is the uncertain disturbance.

7. An anti-interference control system, characterized in that: include: A voltage value acquisition module, used to acquire the input voltage value and output voltage value of the superconducting cavity at the current moment; An interference prediction module is used to input the input voltage value and the output voltage value into a pre-built expansion state observer to predict the uncertain disturbance of the superconducting cavity at the next moment, so as to obtain an interference prediction value, wherein the expansion state observer at least includes model parameters, and the model parameters, the input voltage value and the uncertain disturbance conform to a pre-built first mathematical model of the superconducting cavity; The control signal generating module is used to obtain the control signal of the superconducting cavity at the next moment according to the interference prediction value and the pre-established error feedback control rate, and to perform disturbance compensation on the output voltage value of the superconducting cavity at the next moment through the control signal.

8. An anti-interference control device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the method according to any one of claims 1 to 6 by executing the computer program stored in the memory.

9. A computer-readable storage medium, characterized in that: A computer program is stored on the medium, and the computer program can be executed by a processor to implement the method according to any one of claims 1 to 6.

10. A computer program product comprising a computer program and / or instructions, characterized in that: When the computer program and / or the instructions are executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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