A self-interference suppression control method, system and device

Abstract

The application discloses a self-interference control method, system and device, and relates to the technical field of superconducting cavity low-level control systems. The method comprises the following steps: acquiring an input voltage value and an output voltage value of a superconducting cavity at a current moment; inputting the input voltage value and the output voltage value into a pre-constructed extended state observer to predict an uncertain disturbance of the superconducting cavity at a next moment, and obtaining an interference prediction value; and obtaining 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. Since model parameters are introduced into the extended state observer, the prediction burden of the extended state observer is reduced, the prediction accuracy 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 control efficiency of the superconducting cavity low-level control system is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of low-level control technology for superconducting cavities, specifically to a self-interference control method, system, and device, and also to a computer-readable storage medium and a computer program product. Background Technology

[0002] A superconducting cavity is short for a radio frequency superconducting accelerator cavity. Superconducting cavities have the advantages of high acceleration efficiency and low high-frequency heat loss. They have become core components of large scientific facilities such as linear colliders, free-electron lasers, spallation neutron sources, and advanced light sources. Low-level control of the superconducting cavity is one of the key technologies to ensure the stable operation of superconducting accelerators. It involves digital technology for high-frequency low-level control, which has higher integration, modularity, and stability compared to traditional analog technology.

[0003] Superconducting cavity low-level control systems contain various uncertain disturbances, such as mutual coupling and beam current caused by detuning, inaccurate models, power sources, and mechanical oscillations. Existing superconducting cavity low-level control systems typically use PID feedback controllers to estimate and compensate for disturbances in real time. However, when faced with superconducting cavity low-level control systems with multiple uncertain disturbances, PID feedback controllers cannot accurately estimate these disturbances. To improve the accuracy of estimation, some methods have emerged that use active disturbance rejection controllers (ADRCs) to estimate and compensate for disturbances in real time. However, due to the various uncertain disturbances in superconducting cavity low-level control systems, the prediction burden of the extended state observer included in the ADRC is relatively large, thus failing to guarantee the real-time performance and accuracy of disturbance estimation. Therefore, it is also impossible to achieve precise control of the system and achieve the desired control effect.

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

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

[0006] According to a first aspect, one embodiment provides an active interference rejection control method, which is applied in a low-level control system of a superconducting cavity. The method includes: acquiring the input voltage value and output voltage value of the superconducting cavity at the current moment; 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, thereby obtaining an interference prediction value. The extended state observer includes at least 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; obtaining a control signal for the superconducting cavity at the next moment based on the interference prediction value and a pre-constructed error feedback control law; and using the control signal to perform disturbance compensation on the input voltage value of the superconducting cavity at the next moment.

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

[0008] In some embodiments, the expression for the error feedback control law is: Where u1 is the control signal, K p Here, r is a preset proportional amplification parameter, r is a preset reference value, and y is the output voltage value. Let b be the predicted interference value, and b be 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 includes at least known parameter terms, the known parameter terms being determined based on the half-bandwidth of the superconducting cavity and the output voltage value; and determining the known parameter terms in the first mathematical model as the model parameters.

[0010] In some embodiments, the expression for the second mathematical model is: ,in, Let be the real part of the output voltage value. This represents the imaginary part of the output voltage value. The half-width of the superconducting cavity is given by [the value of the superconducting cavity]. The detuning frequency of the superconducting cavity is... Let be the real part of the voltage generated by the beam across the cavity of the superconducting cavity. This represents the imaginary part of the voltage generated by the beam across the cavity of the superconducting cavity. Let be the real part of the input voltage value. This represents 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), where y' is the first 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, 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 perturbation.

[0012] According to a second aspect, one embodiment provides an anti-interference control system, comprising: a voltage value acquisition module for acquiring the input voltage value and output voltage value of the superconducting cavity at the current moment; an interference prediction module for 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, thereby obtaining an interference 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 a pre-constructed first mathematical model of the superconducting cavity; and a control signal generation module for obtaining a control signal of the superconducting cavity at the next moment based on the interference prediction value and a pre-constructed error feedback control law, and using the control signal to perform disturbance compensation on the output voltage value of the superconducting cavity at the next moment.

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

[0014] According to a fourth aspect, one embodiment provides a computer-readable storage medium storing a computer program that can be executed by a processor to implement the methods described above.

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

[0016] According to the method of the above embodiment, the obtained input voltage value and output voltage value are input into a pre-constructed extended state observer to predict the uncertain disturbance of the superconducting cavity at the next moment, and the disturbance prediction value is obtained. Since model parameters are introduced into the extended state observer, the model parameters, input voltage value and uncertain disturbance conform to the first mathematical model of the pre-constructed superconducting cavity, which reduces the prediction burden of the extended state observer, improves the prediction accuracy and response speed of the extended state observer, thereby improving the real-time performance and accuracy of disturbance estimation of the superconducting cavity low-level control system, and effectively improving the control efficiency of the superconducting cavity low-level control system. Attached Figure Description

[0017] Figure 1 A flowchart of the self-interference suppression control method provided by the present invention;

[0018] Figure 2 A flowchart for determining a first mathematical model in one embodiment;

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

[0020] Figure 4 This is a structural diagram of the self-interference suppression 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 Implementation

[0022] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of this application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to this application are not shown or described in the specification. This is to avoid obscuring the core parts of this application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0023] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0024] The serial numbers assigned to components in this article, such as "first" and "second", are used only to distinguish the objects being described and have no sequential or technical meaning.

[0025] The terminology used in this invention is described below:

[0026] Superconducting cavity: It is the core component of superconducting charged particle accelerator. It utilizes the superconducting properties of superconducting materials at low temperatures to confine electromagnetic energy within the cavity to form a high-frequency electromagnetic field, thereby accelerating charged particles and enabling the particle accelerator to obtain a high-quality charged particle beam.

[0027] A beam, also known as a charged particle beam, refers to a large number of particles moving in a generally ordered manner. This motion contrasts sharply with the thermal motion of a swarm of particles. Beams have wide applications in modern science and technology. For example, in particle accelerators, beams are used to collect, transport, and accelerate primary and secondary particle streams; in electron beam devices, such as cathode ray tubes, camera tubes, and oscilloscopes, beams are used for display and measurement.

[0028] The superconducting cavity low-level control system provides a high-precision, high-stability, and high-reliability control signal to the power source. According to the set values ​​of the working mode, it controls the frequency, amplitude, and phase of the signal, as well as the amplification process in the power source and the tuning state of the accelerating cavity. This ensures that the power source establishes a voltage in the superconducting cavity that meets the requirements for beam injection and acceleration. Therefore, the stability, accuracy, and robustness of the superconducting cavity low-level control system are crucial for ensuring the efficient and safe operation of the particle accelerator.

[0029] Please refer to Figure 1 One embodiment of the present invention provides a self-interference suppression control method, which is applied to a low-level control system of a superconducting cavity. The method includes:

[0030] S10: Obtain the current input voltage and output voltage values ​​of the superconducting cavity.

[0031] In some embodiments, to ensure the stability of the superconducting cavity's output voltage and avoid excessive errors in particle acceleration, an Active Disturbance Rejection Controller (ADRC) is used to estimate and compensate for uncertain disturbances in the system in real time, achieving precise control of the system. The ADRC consists of three parts: a tracking differentiator, an extended state observer, and an error feedback control law. The tracking differentiator is used to arrange the transient process and provide a reasonable control signal, resolving the contradiction between response speed and overshoot. The extended state observer is used to observe the system state and disturbances. The error feedback control law 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 controller only includes two parts: the extended state observer and the error feedback control law, and does not include the tracking differentiator.

[0033] S20: Input the input voltage value and the output voltage value into the pre-built extended state observer to predict the uncertain disturbance of the superconducting cavity at the next moment and obtain the disturbance prediction value. The extended state observer includes at least model parameters. The model parameters, the input voltage value and the uncertain disturbance conform to the first mathematical model of the pre-built 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 based on 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 for the extended state observer is:

[0036]

[0037] in, This is the predicted value of the output voltage of the superconducting cavity at the next moment. y 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 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 and the imaginary part of the input voltage value, l1 is the first adjustment parameter of the extended state observer, l2 is the second adjustment parameter of the extended state observer, and the bandwidth of the extended 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 in the following way:

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

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

[0041]

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

[0043] S22: Based on the second mathematical model, construct the first mathematical model. The first mathematical model includes at least known parameter terms, which are determined based on the half-bandwidth and output voltage value of the superconducting cavity.

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

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

[0046] Where y' is the first 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, 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 an uncertain perturbation.

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

[0048] It should be noted that in existing extended state observers, known parameter terms are usually included as uncertain disturbance terms in f(d), and the calculated values ​​of known parameter terms are very large, which greatly increases the prediction burden of the extended state observer on uncertain disturbances. In this embodiment, in order to reduce the prediction burden of the extended state observer, known parameter terms are included as deterministic disturbances in the active interference rejection controller for interference compensation.

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

[0050] In some embodiments, the half-bandwidth of the superconducting cavity is obtained by testing it in advance, and the output voltage value can be obtained by real-time acquisition. That is, the known parameters can be accurately calculated using the obtained half-bandwidth and output voltage value of the superconducting cavity. Therefore, the known parameters are determined as model parameters.

[0051] S30: Based on the predicted disturbance value and the pre-built error feedback control law, obtain the control signal for the superconducting cavity at the next moment, and use the control signal to perform disturbance compensation on the input voltage value of the superconducting cavity at the next moment.

[0052] In some embodiments, the expression for the error feedback control law is:

[0053]

[0054] Where u1 is the control signal, K p Here, r is the preset proportional amplification parameter, r is the preset reference value, and 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 One embodiment of the present invention provides an anti-interference control system, comprising: a voltage value acquisition module 10, used to acquire the input voltage value and output voltage value of the superconducting cavity at the current moment; an interference prediction module 20, used to input the input voltage value and output voltage value into a pre-constructed extended state observer to predict the uncertain disturbance of the superconducting cavity at the next moment, and obtain an interference prediction value, wherein the extended state observer includes at least model parameters, and the model parameters, input voltage value and uncertain disturbance conform to a pre-constructed first mathematical model of the superconducting cavity; and a control signal generation module 30, used to obtain a control signal of the superconducting cavity at the next moment based on the interference prediction value and a pre-constructed error feedback control law, and to perform 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, and will not be repeated here.

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

[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, and the computer program can be executed by a processor 50 to implement the method as described above.

[0059] One embodiment of the present invention provides a computer program product, including a computer program and / or instructions, which, when executed by a processor, implement the aforementioned method.

[0060] The above examples illustrate the present invention only to aid in understanding it and are not intended to limit the scope of the invention. Those skilled in the art can make various simple deductions, modifications, or substitutions based on the principles of this invention.

Claims

1. A self-anti-jamming 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 time point; inputting the input voltage value and the output voltage value into a pre-constructed extended state observer to predict an uncertain disturbance of the superconducting cavity at a next time point, and obtaining a disturbance prediction value, wherein the extended state observer at least comprises model parameters, and the model parameters, the input voltage value and the uncertain disturbance conform to a first mathematical model of the superconducting cavity which is pre-constructed; obtaining a control signal of the superconducting cavity at the next time point according to the disturbance prediction value and a pre-constructed error feedback control rate, and performing disturbance compensation on the input voltage value of the superconducting cavity at the next time point through the control signal; an expression of the extended state observer is: wherein is a prediction of an output voltage of the superconducting cavity at a next instant in time, is the disturbance prediction, - by is a model parameter, b is a half-bandwidth of the superconducting cavity, y is the output voltage value, the output voltage value comprises at least one of a real part of the output voltage value and an imaginary part of the output voltage value, u is the input voltage value, the input voltage value comprises at least one of a real part of the input voltage value and an imaginary part of the input voltage value, li is a first tuning parameter of the extended state observer, l2 is a second tuning parameter of the extended state observer, by tuning li and / or l2 a bandwidth of the extended state observer can be tuned; an expression of the error feedback control rate is: Wherein, u1 is the control signal, K p is a preset proportional amplification parameter, r is a preset reference value, y is the output voltage value, is the interference prediction value, and b is the half bandwidth of the superconducting cavity.

2. The method of claim 1, wherein, 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 comprises a known parameter term, and the known parameter term is determined according to a half-bandwidth of the superconducting cavity and the output voltage value; determining the known parameter term in the first mathematical model as the model parameters.

3. The method of claim 2, wherein, an expression of the second mathematical model is: where 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, Aw 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.

4. The method of claim 3, wherein, an expression of the first mathematical model is: y' = -by + bu + f(d) wherein y' is a first 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 a beam voltage, the beam voltage comprises at least one of a real part of a voltage generated by a beam on a cavity body of the superconducting cavity and an imaginary part of the voltage generated by the beam on the cavity body of the superconducting cavity, and f(d) is the uncertain disturbance.

5. A self-immune control system, characterized by, comprise: a voltage value acquisition module configured to obtain an input voltage value and an output voltage value of a superconducting cavity at a current time point; an interference prediction module configured to input the input voltage value and the output voltage value into a pre-constructed extended state observer to predict an uncertain disturbance of the superconducting cavity at a next time point, and obtain a disturbance prediction value, wherein the extended state observer at least comprises model parameters, and the model parameters, the input voltage value and the uncertain disturbance conform to a first mathematical model of the superconducting cavity which is pre-constructed; a control signal generation module configured to obtain a control signal of the superconducting cavity at the next time point according to the disturbance prediction value and a pre-constructed error feedback control rate, and perform disturbance compensation on the output voltage value of the superconducting cavity at the next time point through the control signal; an expression of the extended state observer is: wherein is a prediction of an output voltage of the superconducting cavity at a next instant in time, is the disturbance prediction, by is a model parameter, b is a half-bandwidth of the superconducting cavity, y is the output voltage value, the output voltage value comprises at least one of a real part of the output voltage value and an imaginary part of the output voltage value, u is the input voltage value, the input voltage value comprises at least one of a real part of the input voltage value and an imaginary part of the input voltage value, li is a first tuning parameter of the extended state observer, and l2 is a second tuning parameter of the extended state observer, by tuning li and / or l2 a bandwidth of the extended state observer can be tuned; an expression of the error feedback control rate is: Wherein, u1 is the control signal, K p is a preset proportional amplification parameter, r is a preset reference value, y is the output voltage value, is the interference prediction value, and b is the half bandwidth of the superconducting cavity.

6. A self-anti-jamming control device, characterized by comprising: comprise: a memory configured to store a computer program; a processor configured to execute the computer program stored in the memory to implement the method in any one of claims 1-4.

7. A computer readable storage medium characterized in that, The medium has a computer program stored thereon, and the computer program can be executed by a processor to implement the method in any one of claims 1-4.

8. A computer program product comprising computer programs and / or instructions, characterized in that, The computer program and / or instructions, when executed on a processor, implement the method of any one of claims 1-4.

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