A switching control under interference online identification and compensation control method

Abstract

A switching control under interference online identification and compensation control method, comprising: (1) calculating the current quaternion deviation and the current attitude angular rate deviation; (2) calculating the control comprehensive signal according to the quaternion deviation and the attitude angular rate deviation; (3) generating the control duty ratio command through the correction network link and the gain correction link; (4) calculating the pseudo rate modulator feedback path signal according to the switching control state; (5) generating the interference compensation duty ratio command according to the inertial measurement angular rate and the switching control state; (6) synthesizing the control duty ratio command, the interference compensation duty ratio command and the modulator feedback path signal, and generating the switching control command through the Schmitt trigger and outputting to the attitude control nozzle. The present application aims to improve the control ability of the spacecraft under the time-varying large interference, and improve the stability and control precision of the control system.

Description

Technical Field

[0001] This invention relates to a method for online interference identification and compensation control under switch control, belonging to the field of spacecraft control technology. Background Technology

[0002] In the Mars sample return mission, the Mars ascent vehicle faces significant uncertainties during its ascent from the Mars surface due to the thin atmosphere and interference from the main thrust engine caused by structural deviations in the center of mass. Simultaneously, the orbital inclination and right ascension constraints impose high precision requirements on the insertion parameters, necessitating improvements in the attitude control accuracy and stability of the Mars ascent vehicle under conditions of high disturbance uncertainty. Due to propellant resource constraints, the ascent vehicle cannot utilize phase-plane switching control throughout the entire ascent to achieve robustness and attitude control accuracy under high disturbance conditions; therefore, a pseudo-rate pulse width modulation (PWM) scheme, which conserves fuel, must be employed. Traditional PID+pseudo-rate control schemes exhibit good control performance against constant disturbances, and the integral term can compensate for external disturbances to achieve high control accuracy. However, when facing rapidly time-varying disturbances, the integral term suffers from control compensation response lag. Summary of the Invention

[0003] The technical problem to be solved by this invention is to overcome the shortcomings of the prior art, improve the anti-time-varying interference characteristics of spacecraft, and enhance the switching control accuracy under large time-varying interference.

[0004] The objective of this invention is achieved through the following technical solutions:

[0005] A method for online interference identification and compensation control under switch control includes:

[0006] (1) Calculate the current quaternion deviation based on the program quaternion and the inertial measurement navigation quaternion, and calculate the current attitude angular rate deviation based on the program angular rate and the inertial measurement angular rate.

[0007] (2) Calculate the integrated control signal based on the quaternion deviation and attitude angular rate deviation;

[0008] (3) The control signal is processed through a correction network and gain correction to generate a control duty cycle command;

[0009] (4) Calculate the pseudo-rate modulator feedback path signal based on the switch control state;

[0010] (5) Based on the inertial measurement angle and the switch control status, identify the disturbance torque online and generate the disturbance compensation duty cycle command;

[0011] (6) The integrated control duty cycle command, interference compensation duty cycle command and modulator feedback path signal are combined and generated into a switch control command through a Schmitt trigger, which is then output to the attitude control nozzle.

[0012] In the above-mentioned online interference identification and compensation control method under switch control, the quaternion deviation and attitude angular rate deviation in step (1) are calculated according to the following formula:

[0013]

[0014] Among them, [q] cx0 q cx1 q cx2 q cx3 ] T For the quaternion in the program, [q INS0 q INS1 q INS2 q INS3 ] T For inertial navigation quaternions; For quaternion deviation, For program angular velocity, For inertial measurement of angular rate, This represents the attitude angular rate deviation.

[0015] In the above-mentioned online interference identification and compensation control method under switch control, the control synthesis signal in step (2) is calculated according to the following formula:

[0016] u cα (k)=2K Pα q eα +K Dα ω eα +u Iα (k)

[0017]

[0018] in, For alpha channel quaternion bias, The α-channel attitude angular rate deviation. The quaternion bias gain coefficient for the α channel. The α-channel quaternion bias integral gain coefficient. ΔT is the gain coefficient for the α-channel angular rate deviation. zk The time period is the integral of the quaternion deviation. This is the value after limiting the integral of the quaternion deviation in the k-th frame of channel α. u is the value of the quaternion deviation integral before limiting in the k-th frame of channel α. Imaxα This is the integral limit value for the α channel, and Limit() is the general limiting function. ψ and γ represent the pitch, yaw, and roll channels, respectively.

[0019] In the above-mentioned online interference identification and compensation control method under switch control, the control synthesis signal in step (3) is processed by a correction network and gain correction to generate a control duty cycle command, which is calculated according to the following formula:

[0020] u wlα (k)=u cα (k)

[0021]

[0022]

[0023] in, For the input of the alpha channel correction network, For the output of the α channel correction network, For the α-channel correction network coefficients, Correct the gain coefficient for the duty cycle command of channel α. This is the duty cycle command for the α channel, and n is the differential order of the correction network.

[0024] In the above-described online interference identification and compensation control method under switch control, the pseudo-rate modulator feedback path signal in step (4) is calculated according to the following formula:

[0025]

[0026] in, Here are the feedback loop parameters for the α-channel pseudo-rate modulator, ΔT. prm The modulation period of the pseudo-rate modulator. This is the state of the α channel switch command. This is the feedback path signal for the α-channel pseudo-rate modulator.

[0027] In the above-described online interference identification and compensation control method under switch control, the online interference identification torque and interference compensation duty cycle command in step (5) are calculated according to the following formula:

[0028]

[0029] in, The gain coefficient for α-channel interference compensation control. These are the low-pass filter parameters for the α channel interference compensation channel. Calculate the intermediate value ΔT for α channel interference compensation. grbc The calculation cycle for interference compensation control. This is the duty cycle command for α channel interference compensation. This is the identification value for the interference torque coefficient of the α channel. This represents the control torque coefficient for the α channel. This is the α-channel angular rate signal.

[0030] In the above-described method for online interference identification and compensation control under switch control, the switch control command in step (6) is calculated according to the following formula:

[0031]

[0032]

[0033] in, For the α-channel Schmitt trigger switching threshold, The loopback coefficient of the α-channel Schmitt trigger switch. The combined duty cycle signal for the α channel is input to the Schmitt trigger. This is the control command for the α channel switch.

[0034] An electronic device, comprising:

[0035] Processor; and

[0036] Memory is used to store computer program instructions;

[0037] When the computer program instructions are loaded and run by the processor, the processor executes the online interference identification and compensation control method under switch control.

[0038] A computer-readable storage medium having stored thereon computer program instructions, which, when loaded and executed by a processor, cause the processor to perform the online interference identification and compensation control method under switch control.

[0039] A computer program product stored on a non-transitory computer-readable medium, the computer program product including program code for implementing the online interference identification and compensation control method under switch control.

[0040] Compared with the prior art, the present invention has the following advantages:

[0041] (1) The algorithm of this invention has weak dependence on model parameters, strong adaptability to nozzle delay, high accuracy of interference observation, and still has high control accuracy under time-varying interference.

[0042] (2) The algorithm of this invention is simple, and the rate signal is directly introduced in the interference observation, avoiding the differentiation of the rate signal with noise, which has strong engineering applicability.

[0043] (3) By identifying interference in real time and performing interference feedforward compensation, better anti-time-varying interference characteristics can be obtained.

[0044] (4) The interference observation compensation is combined with PID control, and the integral term is used to eliminate the compensation deviation and improve the accuracy of pseudo-rate switching control under time-varying interference. Attached Figure Description

[0045] Figure 1 This is a flowchart of the control method of the present invention;

[0046] Figure 2 This is a block diagram of the online interference identification and compensation control structure under switch control;

[0047] Figure 3 This is the simulated attitude angle control deviation curve of the present invention;

[0048] Figure 4 This is the simulation result curve of the online interference identification of the present invention. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0050] A method for online interference identification and compensation control under switch control, such as Figure 1 As shown, it includes:

[0051] Step (1): Calculate the current quaternion deviation based on the program quaternion and the inertial measurement navigation quaternion; calculate the current attitude angular rate deviation based on the program angular rate and the inertial measurement angular rate.

[0052] In this implementation, the quaternion deviation and attitude angular rate deviation are calculated according to the following formula:

[0053]

[0054] Among them, [q] cx0 q cx1 q cx2 q cx3 ] T For the quaternion in the program, [q INS0 q INS1 q INS2 q INS3 ] T For inertial navigation quaternions; For quaternion deviation, For program angular velocity, For inertial measurement of angular rate, This represents the attitude angular rate deviation. To ensure a smooth control signal, the inertial measurement angular rate is the value after low-pass filtering.

[0055] Step (2): Calculate the integrated control signal based on the quaternion deviation and attitude angular rate deviation;

[0056] In this embodiment, the control signal is calculated according to the following formula:

[0057] u cα (k)=2K Pα q eα +K Dα ω eα +u Iα (k)

[0058]

[0059] in, For alpha channel quaternion bias, The α-channel attitude angular rate deviation. The quaternion bias gain coefficient for the α channel. The α-channel quaternion bias integral gain coefficient. ΔT is the gain coefficient for the α-channel angular rate deviation. zk The time period is the integral of the quaternion deviation. This is the value after limiting the integral of the quaternion deviation in the k-th frame of channel α. u is the value of the quaternion deviation integral before limiting in the k-th frame of channel α. Imaxα This is the integral limit value for the α channel, and Limit() is the general limiting function. ψ and γ represent the pitch, yaw, and roll channels, respectively. The gain coefficients are determined based on a combination of system stability margin and control parameters.

[0060] Step (3): The control signal is processed through a calibration network and gain correction to generate a control duty cycle command;

[0061] In this embodiment, the control synthesis signal is processed by a correction network and gain correction to generate a control duty cycle command, which is calculated according to the following formula:

[0062] u wlα (k)=u cα (k)

[0063]

[0064]

[0065] in, For the input of the alpha channel correction network, For the output of the α channel correction network, For the α-channel correction network coefficients, Correct the gain coefficient for the duty cycle command of channel α. The α-channel control duty cycle command is given, where n is the differential order of the correction network. The coefficients of the α-channel correction network are determined based on the system sloshing and elastic stability margin. The duty cycle command corrects the gain coefficient K. Gα It is determined based on a combination of system stability margin and control accuracy.

[0066] Step (4): Calculate the pseudo-rate modulator feedback path signal based on the switch control state;

[0067] In this embodiment, the pseudo-rate modulator feedback path signal is calculated according to the following formula:

[0068]

[0069] in, Here are the feedback loop parameters for the α-channel pseudo-rate modulator, ΔT. prm The modulation period of the pseudo-rate modulator. This is the state of the α channel switch command. This is the feedback path signal for the α-channel pseudo-rate modulator. The parameters of the modulator feedback loop determine the modulator's performance. In selecting these parameters, while ensuring the pulse width modulation effect, it is necessary to ensure that the bandwidth of the inner loop of the pseudo-rate modulation is higher than the control bandwidth of the outer loop, so that the control bandwidths of the inner and outer loops are matched.

[0070] Step (5): Based on the inertial measurement angle and switch control status, identify the interference torque online and generate the interference compensation duty cycle command;

[0071] In this embodiment, the online identification of interference torque and interference compensation duty cycle command are calculated according to the following formula:

[0072]

[0073] M1 α (k)=M1 α (k-1)+M0 α (k)ΔT grbc

[0074] M2 α (k)=M1 α (k)+ω INSα

[0075]

[0076] in, The gain coefficient for α-channel interference compensation control. These are the low-pass filter parameters for the α channel interference compensation channel. Calculate the intermediate value ΔT for α channel interference compensation. grbc The calculation cycle for interference compensation control. This is the duty cycle command for α channel interference compensation. This is the identification value for the interference torque coefficient of the α channel. This represents the control torque coefficient for the α channel. This is the α-channel angular rate signal.

[0077] Step (6): The integrated control duty cycle command, the interference compensation duty cycle command, and the modulator feedback path signal are combined and generated into a switch control command through a Schmitt trigger, which is then output to the attitude control nozzle.

[0078] In this embodiment, the switch control command is calculated according to the following formula:

[0079]

[0080]

[0081] in, For the α-channel Schmitt trigger switching threshold, The loopback coefficient of the α-channel Schmitt trigger switch. The combined duty cycle signal for the α channel is input to the Schmitt trigger. This is the α-channel switch control command. Schmitt trigger switch threshold. The lap time coefficient mα is determined based on the minimum working pulse duty cycle of the system. It is mainly used to overcome system noise and prevent abnormal and frequent switching of the nozzle.

[0082] Using a spacecraft under time-varying disturbances as the simulation object, the control method of this invention and the traditional PID control method are simulated respectively. The control structure of this invention is as follows: Figure 2 As shown. Under the same time-varying disturbance, the attitude control deviation curves are compared as follows: Figure 3 As shown in the figure, the method of this invention has better anti-time-varying disturbance characteristics and higher control accuracy compared with the traditional PID control method. The results of disturbance identification are as follows. Figure 4 As shown, in the switch control mode, the control method of the present invention has high accuracy and fast response speed in interference identification.

[0083] The contents not described in detail in this specification are common knowledge to those skilled in the art.

[0084] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A method for online interference identification and compensation control under switch control, characterized in that, include: (1) Calculate the current quaternion deviation based on the program quaternion and the inertial measurement navigation quaternion, and calculate the current attitude angular rate deviation based on the program angular rate and the inertial measurement angular rate; (2) Calculate the integrated control signal based on the quaternion deviation and attitude angular rate deviation; (3) The control signal is processed through a correction network and gain correction to generate a control duty cycle command; (4) Calculate the pseudo-rate modulator feedback path signal based on the switch control state; (5) Based on the inertial measurement angle and the switch control status, identify the disturbance torque online and generate the disturbance compensation duty cycle command; (6) The integrated control duty cycle command, the interference compensation duty cycle command and the modulator feedback path signal are combined and generated into a switch control command through a Schmitt trigger, which is then output to the attitude control nozzle; The switch control command in step (6) is calculated according to the following formula: in, for Channel Schmitt trigger switch threshold, for Channel Schmitt trigger switching closure factor, for The channel duty cycle combined signal is input to the Schmitt trigger. for Channel switch control commands; , , These represent the pitch, yaw, and roll channels, respectively. for Channel control duty cycle command, for The feedback path signal of the channel pseudo-rate modulator, for Channel interference compensation duty cycle command, where k is the number of beats.

2. The method for online interference identification and compensation control under switch control according to claim 1, characterized in that, The control signal in step (2) is: in, for Channel quaternion bias, for Channel attitude angular rate deviation, for Channel quaternion bias gain coefficient for Channel quaternion bias integral gain coefficient for Channel angular rate deviation gain coefficient The time period is the integral of the quaternion deviation. for The value of the quaternion deviation after integral limiting in the k-th frame of the channel. for The value of the quaternion deviation integral before limiting in the k-th frame of the channel. for Channel integral limit, This is a general-purpose limiting function.

3. The method for online interference identification and compensation control under switch control according to claim 1, characterized in that, The interference compensation duty cycle command in step (5) includes: in, for Channel interference compensation control gain coefficient , for Channel interference compensation and low-pass filter parameters. , , for Intermediate values ​​for channel interference compensation calculation. The calculation cycle for interference compensation control. for Channel interference torque coefficient identification value, for Channel control torque coefficient, for Channel angular rate signal, for Channel switch command status.

4. The method for online interference identification and compensation control under switch control according to claim 1, characterized in that, The quaternion deviation and attitude angular rate deviation in step (1) are calculated according to the following formula: in, For the quaternion in the program, For inertial navigation quaternions; For quaternion deviation, For program angular velocity, For inertial measurement of angular rate, This represents the attitude angular rate deviation.

5. The method for online interference identification and compensation control under switch control according to claim 2, characterized in that, In step (3), the control synthesis signal is processed by a correction network and gain correction to generate a control duty cycle command, which is calculated according to the following formula: in, for Channel calibration network input, for Channel calibration network output, for Channel correction network coefficients, for The channel duty cycle command corrects the gain coefficient, where n is the differential order of the correction network.

6. The method for online interference identification and compensation control under switch control according to claim 1, characterized in that, The pseudo-rate modulator feedback path signal in step (4) is calculated according to the following formula: in, , for Channel pseudo-rate modulator feedback loop parameters, The modulation period of the pseudo-rate modulator. for Channel switch command status.

7. An electronic device, comprising: processor; as well as Memory is used to store computer program instructions; When the computer program instructions are loaded and run by the processor, the processor performs the method as described in any one of claims 1 to 6.

8. A computer-readable storage medium having stored thereon computer program instructions, which, when loaded and run by a processor, cause the processor to perform the method as described in any one of claims 1 to 6.

9. A computer program product stored on a non-transitory computer-readable medium, the computer program product comprising program code for performing the method as described in any one of claims 1 to 6.

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