CMG unmanned motorcycle anti-interference method, device and equipment based on disturbance frequency separation and storage medium

Abstract

The invention discloses a CMG unmanned motorcycle anti-interference method and device based on disturbance frequency separation, equipment and a storage medium. The method comprises the following steps: estimating a system state and rolling channel disturbance through a disturbance observer according to precession control quantity and measurement output; separating disturbance into low-frequency disturbance and high-frequency disturbance; calculating an actual state balance point based on low-frequency disturbance; generating an initial precession control quantity based on the estimated system state and the actual state balance point; performing high-frequency disturbance feed-forward compensation on the initial precession control quantity based on high-frequency disturbance to generate a new precession control quantity; and applying the newly generated precession control quantity to the CMG unmanned motorcycle system. When disturbance exists, the precession angle can be driven to return to the zero position, CMG angular momentum saturation is avoided, meanwhile, decoupling of steering control and CMG control is achieved, and the anti-interference capacity of the motorcycle under various disturbances is remarkably enhanced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of CMG (control moment gyro) unmanned motorcycles, and in particular to a CMG unmanned motorcycle anti-disturbance method, device, equipment and storage medium based on disturbance frequency separation. Background Art

[0002] Unmanned motorcycle robots have the advantages of high speed, high maneuverability and strong passability. They are suitable for various tasks in structured environments such as cities and roads, and unstructured environments such as mountains and grasslands. However, unmanned motorcycles are unstable at low speeds. Commonly used mechanisms to solve low-speed instability include: CMG (control moment gyro), reaction wheel, mass pendulum, and negative drag torque. CMG can output greater torque than the other three methods, so it has received more widespread attention.

[0003] The basic components of CMG include a flywheel with large inertia, a motor that drives the flywheel to rotate, a frame connecting the rotating motor and the flywheel, and a motor that drives the frame and the flywheel to precess. The basic principle of its output torque is the angular momentum theorem. Specifically, when a high-speed rotating flywheel is driven to precess, the flywheel will output a gyroscopic torque on a third axis that is orthogonal to both the rotation and precession. Figure 1 is a schematic diagram of CMG, where IΩ is the rotational angular momentum, is the precession angular velocity, the dot operator above the precession angle γ represents the derivative, and M is the output torque.

[0004] The balance control of unmanned motorcycles based on CMG refers to controlling the gyroscopic effect torque output by CMG to resist gravity to restore to the equilibrium position when the vehicle tilts. However, CMG has the limitation of angular momentum saturation, that is, when the precession angle is close to 90 degrees, it cannot generate torque in the desired output axis direction, which means that the integral of the CMG output torque is limited and the torque cannot be continuously output for a long time. Therefore, in order to enable the CMG motorcycle to resist greater disturbances and meet disturbances in unknown directions, an important goal of CMG control is to control the CMG precession axis to return to the preset position while controlling the balance of the vehicle.

[0005] There have been some control methods for CMG-based unmanned motorcycles or bicycles.

[0006] The first prior art is the linear state feedback method. The classic linear control method is to establish a state space model of the system, calculate the observer feedback gain to make the observation error system stable, and then estimate the unknown state according to the input and output, and calculate the controller feedback gain to make the closed-loop system stable or achieve the desired performance. The methods for calculating the feedback gain include: pole placement method and linear quadratic regulator method.

[0007] This linear state feedback method can only ensure system stability, but has poor robustness and anti-disturbance. Since there is no special anti-disturbance mechanism to resist disturbances, tracking errors will occur when there are non-zero mean disturbances, that is, the CMG precession angle (called frame angle in some literature) cannot be tracked to zero. Figures 2(a) and (b) are the experimental results of different literatures based on this technology.

[0008] The second prior art is the active rejection control method. Active rejection control is a disturbance estimation and compensation method for systems containing disturbances. The active rejection method is based on the state feedback method, which regards the disturbance as an additional state to obtain an expanded state vector, configures the observer poles to stabilize the expanded observation error system to estimate the unknown disturbance, and then adds the opposite of the estimated disturbance to the control input to offset the disturbance.

[0009] However, the disadvantage of the anti-disturbance control method is that the CMG precession angle will also be biased under disturbance. More seriously, if the disturbance continues, the CMG angular momentum will be saturated and lose the ability to balance control. Figure 3 It can be seen that the precession angle ( Figure 3 The α angle in the middle produces a bias.

[0010] The reason is that the anti-disturbance control method is only applicable to the case where the disturbance is a matched disturbance (a matched disturbance refers to a linear correlation between the disturbance coefficient matrix and the input coefficient matrix columns in the state-space equation), while the disturbance in CMG's unmanned motorcycle is a non-matched disturbance, so directly using this method will fail.

[0011] The third existing technology is a scheme based on disturbance compensation and control allocation. An extended state observer is used to observe the disturbance, and then the control allocation technology is used to coordinate the output torque of the steering and CMG to compensate for the disturbance. At the same time, a precession angle penalty term is added to the objective function of the control allocation to promote the precession angle to be close to zero.

[0012] There are two disadvantages of the third prior art: first, it can only promote the precession angle to return to zero, and there is no theoretical guarantee that the precession angle will completely return to zero; second, it depends on the distribution between steering control and CMG control, and does not decouple steering control and CMG control, resulting in deviations in the tracking path that depends on steering.

[0013] Therefore, it is necessary to develop an anti-disturbance control technology solution for CMG unmanned motorcycles, which can drive the precession angle back to zero position when there is a disturbance, avoid CMG angular momentum saturation, and not couple the steering angle control. Summary of the invention

[0014] The present disclosure proposes a CMG unmanned motorcycle anti-disturbance control method based on disturbance frequency separation, which can drive the precession angle back to zero when disturbance exists, avoid CMG angular momentum saturation, and realize the decoupling of steering control and CMG control.

[0015] According to an embodiment of the present disclosure, a CMG unmanned motorcycle anti-disturbance control method based on disturbance frequency separation is proposed, comprising:

[0016] According to the current CMG precession control value u and the motion state measurement output y of the CMG unmanned motorcycle, the estimated system state is obtained. and roll channel disturbance The system state includes the precession angle γ, the roll angle Roll angular velocity

[0017] The estimated roll channel disturbance Separation into low frequency disturbances and high frequency disturbances

[0018] Based on low frequency disturbance Calculate the actual state equilibrium point of the system

[0019] Based on the estimated system status Balance point with actual state Generate preliminary precession control

[0020] Based on high frequency disturbance Initial precession control Perform high-frequency disturbance feedforward compensation to generate a new precession control variable u;

[0021] The newly generated precession control variable u is applied to the CMG unmanned motorcycle system to achieve anti-disturbance control.

[0022] In some possible implementations, the estimated system state is obtained based on the current CMG precession control value u and the motion state measurement output y of the CMG unmanned motorcycle. and roll channel disturbance include:

[0023] Define the expanded state vector γ is the precession angle, represents the roll angle, represents the roll angular velocity, d represents the roll channel disturbance, and the expansion system equation is established:

[0024]

[0025] Among them, δ represents the handlebar angle, v represents the forward speed of the rear wheel, g(·) is the nonlinear function of the system roll dynamics, and p is the derivative of the roll channel disturbance d. is the expansion system function;

[0026] Based on the expanded system equation, the following expanded state observation equation is established:

[0027]

[0028] in, is the expanded state vector The estimated value of , L is the observation gain matrix, and C is the output matrix;

[0029] The error equation is obtained:

[0030]

[0031] in,

[0032] Determine the observation gain matrix L so that A o -LC is stable and the error e converges, then The first three components are used as the estimated system state And at this time The fourth component of is taken as the estimated roll channel disturbance

[0033] In some possible implementations, the estimated roll channel disturbance Separation into low frequency disturbances and high frequency disturbances include:

[0034] Estimation of the roll channel disturbance Through the low-pass filter, the low-frequency disturbance is obtained The transfer function of the low-pass filter is Where T is an adjustable time constant parameter used to adjust the cutoff frequency of the filter, and s is the complex variable of the Laplace transform;

[0035] Estimation of the roll channel disturbance Through the high-pass filter, high-frequency disturbance is obtained The transfer function of the high-pass filter is

[0036] In some possible implementations, at the actual state equilibrium point of the computing system , the precession angle balance point is set to the preset zero position.

[0037] In some possible implementations, based on low-frequency perturbations Calculate the actual state equilibrium point of the system include:

[0038] The zero point of the roll angle balance point function is solved based on the Newton iteration method. The roll angle balance point function is as follows:

[0039]

[0040] Among them, δ t and v t is the input command, g(·) is the nonlinear function of the system rolling dynamics;

[0041] The roll angle at the end of the Newton iteration method The value of the roll angle balance point And get the actual state equilibrium point

[0042] In some possible implementations, based on the estimated system state Balance point with actual state Generate preliminary precession control include:

[0043] exist The following system state space equation is linearized at u=0:

[0044]

[0045] Where f(x) represents the system dynamics function, h(x) is the control input matrix, and D is the constant vector;

[0046] definition and Building a closed-loop controller Where K is the feedback gain matrix, and the feedback gain matrix K is adjusted so that the closed-loop matrix A c -B c K is stable, and A c -B c When K reaches a stable As the initial precession control

[0047] In some possible implementations, based on high frequency perturbations Initial precession control Perform high-frequency disturbance feedforward compensation to generate a new precession control variable u, including:

[0048] The high-frequency disturbance feedforward compensation function is calculated according to the following formula:

[0049]

[0050] Among them, I b is the moment of inertia parameter, I fz is the flywheel moment of inertia parameter, Ω is the rotation angular velocity;

[0051] Generate a new precession control value u according to the following formula:

[0052]

[0053] According to an embodiment of the present disclosure, a CMG unmanned motorcycle anti-disturbance control device based on disturbance frequency separation is also proposed, comprising:

[0054] The disturbance observer is used to measure the output y based on the current CMG precession control quantity u and the motion state of the CMG unmanned motorcycle to obtain the estimated system state and roll channel disturbance The system state includes the precession angle γ, the roll angle Roll angular velocity

[0055] High and low frequency separators are used to convert the estimated roll channel disturbance Separation into low frequency disturbances and high frequency disturbances

[0056] Perturbation equilibrium point calculator for low frequency perturbations Calculate the actual state equilibrium point of the system

[0057] Controller for estimated system states Balance point with actual state Generate preliminary precession control

[0058] High-frequency disturbance feedforward compensator is used to Initial precession control Perform high-frequency disturbance feedforward compensation to generate a new precession control variable u;

[0059] The anti-disturbance controller is used to apply the newly generated precession control quantity u to the CMG unmanned motorcycle system to achieve anti-disturbance control.

[0060] According to one embodiment of the present disclosure, an electronic device is also proposed, the device comprising a memory and a processor, the memory is used to store computer instructions executable on the processor, and the processor is used to implement any of the methods described above when executing the computer instructions.

[0061] According to an embodiment of the present disclosure, a computer-readable storage medium is further provided, on which a computer program is stored, and when the program is executed by a processor, any of the methods described above is implemented.

[0062] The CMG unmanned motorcycle anti-disturbance control scheme based on disturbance frequency separation proposed in the present disclosure can ensure that the precession angle returns to zero even when there is a disturbance by performing frequency separation on the disturbance and adopting different compensation strategies, thereby avoiding the saturation of the CMG angular momentum and improving the anti-disturbance capability of the system. At the same time, the scheme realizes the decoupling control of CMG and steering, so that the anti-disturbance control of CMG does not affect the trajectory tracking control based on steering, providing greater flexibility for the practical application of the unmanned motorcycle. In addition, the design of combining the accuracy of the zero-position tracking of the precession angle under the low-frequency disturbance component and the rapidity of the anti-disturbance under the high-frequency disturbance component in the scheme enhances the anti-disturbance capability of the motorcycle under various disturbances.

[0063] Other features and advantages of the present disclosure are described in detail below. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the specification and, together with the description, serve to explain the principles of the specification.

[0065] Figure 1 A schematic diagram of a CMG is shown.

[0066] FIG. 2( a ) and FIG. 2( b ) are experimental results based on a certain prior art.

[0067] Figure 3 The above is an experimental result based on another prior art.

[0068] Figure 4 A schematic diagram of the geometric relationship of the CMG unmanned motorcycle system is shown.

[0069] Figure 5 A flow chart of a CMG unmanned motorcycle anti-disturbance method based on disturbance frequency separation according to an embodiment of the present disclosure is shown.

[0070] Figure 6 A control block diagram of a CMG unmanned motorcycle anti-disturbance device based on disturbance frequency separation according to an exemplary embodiment of the present disclosure is shown.

[0071] Figure 7 It is a schematic diagram of the structure of an electronic device shown in at least one embodiment of the present disclosure. DETAILED DESCRIPTION

[0072] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0073] The disclosed embodiments may be applied to a computer system / server that may operate with numerous other general or special computing system environments or configurations. Examples of well-known computing systems, environments, and / or configurations suitable for use with a computer system / server include, but are not limited to, personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, networked personal computers, minicomputer systems, mainframe computer systems, and distributed cloud computing technology environments including any of the above systems, and the like.

[0074] Computer systems / servers may be described in the general context of computer system executable instructions (such as program modules) executed by a computer system. In general, program modules may include routines, programs, object programs, components, logic, data structures, etc., which perform specific tasks or implement specific abstract data types. Computer systems / servers may be implemented in a distributed cloud computing environment where tasks are performed by remote processing devices linked through a communication network. In a distributed cloud computing environment, program modules may be located on local or remote computing system storage media including storage devices.

[0075] The meanings of the CMG unmanned motorcycle modeling parameters involved in the present disclosure are shown in Table 1.

[0076] Table 1 Modeling parameters

[0077]

[0078] In addition, unless otherwise expressly indicated, the dot above the symbol (i.e. · ) represents derivation; the broken line (i.e. ^) above the symbol in this disclosure represents the estimated value.

[0079] Figure 4 The geometric relationship diagram of the CMG unmanned motorcycle is shown, and the location of key parameters in the motorcycle structure is marked. The dynamic equation of the CMG unmanned motorcycle can be established using the Newton-Euler method:

[0080]

[0081] The present disclosure adopts a decoupled control method of steering and CMG. Specifically, the steering is responsible for tracking the trajectory planned by the upper layer, and the CMG is responsible for the balance control of the roll angle of the unmanned motorcycle. The design goal of the present disclosure is to control the roll angle to reach a specified angle and control the precession angle of the CMG to return to zero. Therefore, the system state of the unmanned motorcycle can be defined as The input of the system is the precession angular velocity of the CMG, that is Considering that the roll channel of the system is perturbed by d, the state space equation of the system can be written as:

[0082]

[0083] Figure 5 The flowchart of the CMG unmanned motorcycle anti-disturbance method based on disturbance frequency separation according to an embodiment of the present disclosure is shown. As shown in the figure, the method includes steps 1 to 6.

[0084] Step 1: According to the current CMG precession control quantity u and the motion state measurement output y of the CMG unmanned motorcycle, the estimated system state is obtained. and roll channel disturbance The system state includes the precession angle γ, the roll angle Roll angular velocity

[0085] The CMG precession control amount u in this embodiment can be a precession angular velocity control amount, a precession joint torque control amount, or a precession acceleration control amount, etc., which can realize the control of CMG precession. Those skilled in the art can choose which specific parameter to use as the CMG precession control amount u according to actual conditions.

[0086] The measured output y may include the precession angle γ, the roll angle Handlebar angle δ, rear wheel forward speed v, rolling angular velocity The forward acceleration and / or rear wheel torque etc. are the measurement quantities reflecting the motion state of the CMG unmanned motorcycle. Those skilled in the art can decide which motion state quantities to measure according to the needs.

[0087] This step can be achieved by a disturbance observer, the goal of which is to estimate the unknown state and disturbance based on the precession control quantity and motion state measurement quantity of the unmanned motorcycle system. For example, in one example, its input can be the current precession angular velocity control quantity and measurement output y of the CMG unmanned motorcycle, and the measurement output y can include the precession angle γ, the roll angle The output is the estimated value of the system state. and the disturbance estimate The disturbance observer used in the present disclosure can be continuous or discrete, and can be full-order or reduced-order. The specific implementation form is not limited, such as Kalman filter, Romberg observer, extended state observer, sliding mode observer, nonlinear disturbance observer, etc. Those skilled in the art can select an applicable observer according to their needs.

[0088] In some embodiments, the following extended state observer can be used to estimate the system state and roll channel disturbance

[0089] First, define the expanded state vector γ is the precession angle, represents the roll angle, represents the roll angular velocity, d represents the roll channel disturbance, and the following expanded system equation is established:

[0090]

[0091] Among them, δ represents the handlebar angle, v represents the forward speed of the rear wheel, g(·) is the nonlinear function of the system roll dynamics, and p is the derivative of the roll channel disturbance d. is the expansion system function.

[0092] The second step is to establish the following expanded state observation equation based on the expanded system equation:

[0093]

[0094] in, In expansion state The estimated value of , L is the observation gain matrix, and C is the output matrix.

[0095] Then we get the error equation:

[0096]

[0097] in,

[0098] Finally, determine the observation gain matrix L so that A o -LC is stable and the error e converges, then The first three components are used as the estimated system state And at this time The fourth component of is taken as the estimated roll channel disturbance

[0099] For example, when determining the observation gain matrix L, L can be calculated by pole placement or other methods so that A o-LC is stable, then as long as p is bounded, L can be further adjusted so that e converges to 0 under a given error, realizing the observation of the disturbance, that is,

[0100] According to this embodiment, by considering the disturbance as an additional state to obtain an expanded state vector, configuring the observer poles to make the expanded observation error system stable so as to estimate the unknown disturbance, the simultaneous estimation of the system state and the disturbance can be effectively achieved.

[0101] Step 2: Perturb the estimated roll channel Separation into low frequency disturbances and high frequency disturbances

[0102] This step can be achieved by high and low frequency separation filters, the goal is to separate the disturbance Mid and low frequency components and high frequency components Different methods are then used for compensation. The input is the disturbance estimated in the previous step. The output is a low frequency disturbance and high frequency disturbances The separation of low-frequency disturbance and high-frequency disturbance can be achieved by using various types of filters, such as digital or analog, discrete or continuous, finite impulse response filter (FIR) or infinite impulse response filter (IIR). For example, Butterworth filter, Chebyshev filter, elliptic filter, window filter, raised cosine filter can be used. In addition, the high-frequency and low-frequency parts of the filter do not have to completely cover all frequencies.

[0103] In some embodiments, a combination of a first-order low-pass filter and a high-pass filter may be used. Through the low-pass filter, the low-frequency disturbance is obtained The transfer function of the low-pass filter is:

[0104]

[0105] Where T is an adjustable time constant parameter used to adjust the cutoff frequency of the filter, and s is the complex variable of the Laplace transform;

[0106] The estimation of the roll channel disturbance can be Through the high-pass filter, high-frequency disturbance is obtained The transfer function of the high-pass filter is (1.7)

[0108] The cutoff frequency of the filter can be matched to the system characteristics by selecting an appropriate time constant T.

[0109] According to this embodiment, the mean of the high-frequency disturbance and the low-frequency disturbance satisfies In addition, the low-frequency perturbation also satisfies the boundedness, that is, These characteristics lay the foundation for the subsequent adoption of different compensation strategies.

[0110] In other embodiments, other means besides filters may be used to convert the disturbance Separation into low frequency disturbances and high frequency disturbances For example, the characteristics of disturbances can be learned based on learning methods, and the disturbances can be classified as slow-changing or fast-changing disturbances according to their characteristics. This is sufficient as long as the purpose of separating full-changing disturbances and fast-changing disturbances can be achieved so that they can be compensated separately later.

[0111] Step 3, based on low-frequency perturbation Calculate the actual state equilibrium point of the system

[0112] This step can be implemented by a perturbation equilibrium point calculator, whose goal is to estimate the low-frequency disturbance To estimate the actual equilibrium point of the system, the inventor abstracted its essence as solving the zero point of a nonlinear equation, whose input is a low-frequency disturbance Upper level command v t and δ t , the output is the estimated equilibrium point Upper level command v t and δ t It can be understood as the desired motion state determined manually or given by the upper path planner, that is, the target forward speed and the target turning angle. Those skilled in the art can use various zero point solving methods that are considered applicable to solve the zero point of the equation.

[0113] The target equilibrium point of the system can be obtained by Determine. Among them, [v t , δ t ] is provided by the input command signal. In some embodiments, in order to obtain the maximum anti-interference ability of the system, the CMG precession angle balance point can be set to a preset zero position, that is, γ t is the preset reference position. Those skilled in the art will appreciate that the preset zero position here does not represent the geometric level, mechanical zero position or other meanings of 0, but is the optimal balance position selected according to the specific working characteristics of the CMG. In this case, the roll balance point is estimated The target equilibrium point of the system can be determined.

[0114] In some implementations, the Newton iteration method may be used to solve the roll balance point. First, the zero point of the roll angle balance point function may be solved based on the Newton iteration method, and the roll angle balance point function is as follows:

[0115]

[0116] Among them, δ t and v t is the input command, and g(·) is the nonlinear function of the rolling dynamics of the unmanned motorcycle system. Specifically, according to the Newton iteration method, the zero-point guess initial value can be given Given an error limit ε, perform the following iterations:

[0117]

[0118] Until the iteration termination condition is met

[0119] The roll angle at the end of the Newton iteration method The value of is used as the estimated roll angle balance point Then determine the actual state equilibrium point of the system

[0120] According to this embodiment, the balance point is calculated using the Newton iteration method, and the CMG precession angle balance point is set to a preset zero position, which ensures that the system has the maximum anti-disturbance capability. In addition, the input of the balance point calculator is only low-frequency disturbances. Helps avoid excessive system response to high-frequency disturbances.

[0121] In other embodiments, the above model-based calculation method may not be used, but a learning-based method may be used to calculate the actual state equilibrium point according to simulation or experimental data fitting.

[0122] Step 4: Based on the estimated system status Balance point with actual state Generate preliminary precession control

[0123] This step can be implemented by the controller, and its goal is to stabilize the unmanned motorcycle at the estimated disturbance equilibrium point. The input is the estimated actual state equilibrium point. and system status The output is the initial precession control quantity Those skilled in the art may adopt any applicable controller, for example, a continuous or discrete controller. The specific implementation may adopt, for example, a state feedback controller, an LQR controller, a sliding mode controller, an MPC controller, an H2 / H∞ controller, a reinforcement learning controller, etc.

[0124] In one embodiment, a linear state feedback controller may be used. The following system state space equation is linearized at u=0:

[0125]

[0126] Where f(x) represents the system dynamics function, h(x) is the control input matrix, and D is the constant vector. Please refer to the above formula (1.2).

[0127] For example, we can use the first-order Taylor expansion and obtain the following after linearization:

[0128]

[0129] Defining State Deviations and Then we have:

[0130]

[0131] Building a closed-loop controller Where K is the feedback gain matrix, and the feedback gain matrix K is adjusted so that the closed-loop matrix A c -B c K is stable, and A c -B c When K reaches a stable As the initial precession control

[0132] According to this embodiment, the nonlinear system is linearized at the actual state equilibrium point, and the state feedback method is used to achieve the convergence of the system state to the equilibrium point. Therefore, in d h = 0, that is, when there is only low-frequency disturbance, the controller Under the effect, there are It can ensure that the precession angle γ returns to zero.

[0133] Step 5, based on high frequency perturbation Initial precession control Perform high-frequency disturbance feedforward compensation to generate a new precession control variable u.

[0134] This step can be implemented by a high-frequency disturbance feedforward compensator, the goal of which is to compensate for high-frequency disturbances, and its input is the preliminary precession control quantity High frequency disturbance d h , the output is the new actual precession control quantity u.

[0135] In some embodiments, to perform high-frequency disturbance feedforward compensation, the high-frequency disturbance feedforward compensation function may be calculated according to the following formula:

[0136]

[0137] Among them, I b is the moment of inertia parameter, I fz is the flywheel moment of inertia parameter, Ω is the rotation angular velocity;

[0138] And generate a new precession control value u according to the following formula:

[0139]

[0140] After adding state feedback control and high-frequency disturbance feedforward compensation to the state space equation of the unmanned motorcycle system, the following closed-loop system equation is obtained:

[0141]

[0142] The entire closed-loop system includes core control modules such as unmanned motorcycle system, state feedback control, high-frequency disturbance feedforward supplement, and auxiliary control modules such as disturbance observation, frequency separation, and disturbance equilibrium point calculation.

[0143] According to this embodiment, since (A c -B c K) stable, The mean is 0, so The steady-state value will not deviate, while the disturbance is transferred from the roll The channel has been transferred to channel, achieving anti-interference of the roll angle channel.

[0144] In some embodiments, the high-frequency disturbance feedforward compensation function may not completely compensate for the high-frequency disturbance, and may refine the estimated high-frequency disturbance, such as adding weight coefficients, shielding specific frequencies, etc., depending on actual needs or experimental results.

[0145] The anti-disturbance control method for CMG unmanned motorcycle based on disturbance frequency separation proposed in this embodiment can ensure that the precession angle returns to zero even when there is a disturbance by performing frequency separation on the disturbance and adopting different compensation strategies, thereby avoiding the saturation of CMG angular momentum and improving the anti-disturbance capability of the system. At the same time, this method realizes the decoupling control of CMG and steering, so that the anti-disturbance control of CMG does not affect the trajectory tracking control based on steering, providing greater flexibility for the practical application of unmanned motorcycles. In addition, the design of combining the accuracy of zero-position tracking of the precession angle under low-frequency disturbance components and the rapidity of anti-disturbance under high-frequency disturbance components in this method enhances the anti-disturbance capability of the motorcycle under various disturbances.

[0146] According to another embodiment of the present disclosure, a CMG unmanned motorcycle anti-disturbance control device based on disturbance frequency separation is also proposed, comprising:

[0147] The disturbance observer is used to measure the output y based on the current CMG precession control quantity u and the motion state of the CMG unmanned motorcycle to obtain the estimated system state and roll channel disturbance The system state includes the precession angle γ, the roll angle Roll angular velocity

[0148] High and low frequency separators are used to convert the estimated roll channel disturbance Separation into low frequency disturbances and high frequency disturbances

[0149] Perturbation equilibrium point calculator for low frequency perturbations Calculate the actual state equilibrium point of the system

[0150] Controller for estimated system states Balance point with actual state Generate preliminary precession control

[0151] High-frequency disturbance feedforward compensator is used to Initial precession control Perform high-frequency disturbance feedforward compensation to generate a new precession control variable u;

[0152] The anti-disturbance controller is used to apply the newly generated precession control quantity u to the CMG unmanned motorcycle system to achieve anti-disturbance control.

[0153] Figure 6 A control block diagram of a CMG unmanned motorcycle anti-disturbance device based on disturbance frequency separation according to an exemplary embodiment of the present disclosure is shown. As shown in the figure, the device includes a CMG motorcycle, a controller, a high-frequency disturbance feedforward compensator, a disturbance observer, a filter for high and low frequency separation, and a disturbance balance point calculator.

[0154] The disturbance observer is used to estimate the unknown state and disturbance based on the system's precession control and measurement. In this example, its input is the precession angular velocity control u and the measurement output of the CMG unmanned motorcycle. The output is the estimated system state and the estimated disturbance

[0155] This exemplary embodiment uses a filter to separate high and low frequencies. Its input is the disturbance estimate output by the disturbance observer. Separate it into high frequency disturbances and low frequency disturbances

[0156] The perturbation equilibrium point calculator is used to calculate the perturbation equilibrium point based on the estimated low frequency perturbation. Estimate the actual equilibrium point of the system. Its input is a low-frequency disturbance and the upper level instruction v t ,δ t , the output is the estimated actual state equilibrium point

[0157] The controller is used to stabilize the GMC motorcycle at the estimated disturbance equilibrium point. The input is the actual state equilibrium point and observation status The output is the initial precession angular velocity control quantity

[0158] The high-frequency disturbance feedforward compensator is used to compensate for high-frequency disturbances. Its input is the initial precession angular velocity control quantity and high frequency disturbances The output is the new precession angular velocity control value u.

[0159] The CMG motorcycle is the controlled object, and its input is the precession angular velocity control variable u, and its output includes the precession angle γ, roll angle The handlebar angle δ and the rear wheel speed v are both affected by the external disturbance d.

[0160] pass Figure 6 The control block diagram shown can clearly show the closed-loop control structure of the entire system and the signal transmission relationship between each part. Among them, the CMG motorcycle, controller and high-frequency disturbance feedforward compensator constitute the basic closed-loop control structure, while the disturbance observer, filter and disturbance balance point calculator provide the necessary parameters and signals for realizing the closed-loop control.

[0161] For other details and beneficial effects of this embodiment, please refer to the above related introduction, which will not be repeated here.

[0162] Figure 7 An electronic device provided for at least one embodiment of the present disclosure includes a memory and a processor, wherein the memory is used to store computer instructions executable on the processor, and the processor is used to implement the CMG unmanned motorcycle anti-disturbance control method based on disturbance frequency separation described in any embodiment or implementation method of the present disclosure when executing the computer instructions.

[0163] At least one embodiment of the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the CMG unmanned motorcycle anti-disturbance control method based on disturbance frequency separation as described in any embodiment or implementation method of the present disclosure.

[0164] It should be understood by those skilled in the art that one or more embodiments of the present specification may be provided as a method, system or computer program product. Therefore, one or more embodiments of the present specification may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, one or more embodiments of the present specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0165] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the data processing device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0166] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0167] The embodiments of the subject matter and functional operations described in this specification may be implemented in the following: digital electronic circuits, tangibly embodied computer software or firmware, computer hardware including the structures disclosed in this specification and their structural equivalents, or a combination of one or more of them. The embodiments of the subject matter described in this specification may be implemented as one or more computer programs, i.e., one or more modules in computer program instructions encoded on a tangible non-temporary program carrier to be executed by a data processing device or to control the operation of the data processing device. Alternatively or additionally, the program instructions may be encoded on an artificially generated propagation signal, such as a machine-generated electrical, optical or electromagnetic signal, which is generated to encode information and transmit it to a suitable receiver device for execution by a data processing device. The computer storage medium may be a machine-readable storage device, a machine-readable storage substrate, a random or serial access memory device, or a combination of one or more of them.

[0168] The processes and logic flows described in this specification can be performed by one or more programmable computers executing one or more computer programs to perform corresponding functions by operating on input data and generating output. The processes and logic flows can also be performed by special purpose logic circuits, such as FPGAs (field programmable gate arrays) or ASICs (application-specific integrated circuits), and the apparatus can also be implemented as special purpose logic circuits.

[0169] Computers suitable for executing computer programs include, for example, general and / or special microprocessors, or any other type of central processing unit. Typically, the central processing unit will receive instructions and data from a read-only memory and / or a random access memory. The basic components of a computer include a central processing unit for implementing or executing instructions and one or more memory devices for storing instructions and data. Typically, the computer will also include one or more large-capacity storage devices for storing data, such as magnetic disks, magneto-optical disks, or optical disks, or the computer will be operably coupled to this large-capacity storage device to receive data from it or to transmit data to it, or both. However, the computer does not necessarily have such a device. In addition, the computer can be embedded in another device, such as a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a global positioning system (GPS) receiver, or a portable storage device such as a universal serial bus (USB) flash drive, to name a few.

[0170] Computer readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media and memory devices, including, for example, semiconductor memory devices (e.g., EPROM, EEPROM and flash memory devices), magnetic disks (e.g., internal hard disks or removable disks), magneto-optical disks, and CD ROM and DVD-ROM disks. The processor and memory may be supplemented by, or incorporated in, special purpose logic circuitry.

[0171] Although this specification includes many specific implementation details, these should not be interpreted as limiting the scope of any invention or the scope of protection claimed, but are mainly used to describe the features of the specific embodiments of specific inventions. Certain features described in multiple embodiments in this specification may also be implemented in combination in a single embodiment. On the other hand, the various features described in a single embodiment may also be implemented separately in multiple embodiments or in any suitable sub-combination. In addition, although features may work in certain combinations as described above and even initially claim protection, one or more features from the claimed combination may be removed from the combination in some cases, and the claimed combination may point to a sub-combination or a variation of a sub-combination.

[0172] Similarly, although operations are depicted in a particular order in the accompanying drawings, this should not be understood as requiring that these operations be performed in the particular order shown or performed sequentially, or requiring that all illustrated operations be performed to achieve the desired results. In some cases, multitasking and parallel processing may be advantageous. In addition, the separation of various system modules and components in the above-described embodiments should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product, or packaged into multiple software products.

[0173] Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the particular order or sequential order shown to achieve the desired results. In some implementations, multitasking and parallel processing may be advantageous.

[0174] The above description is merely a preferred embodiment of one or more embodiments of the present specification and is not intended to limit one or more embodiments of the present specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present specification shall be included in the scope of protection of one or more embodiments of the present specification.

Claims

1. A CMG unmanned motorcycle anti-disturbance control method based on disturbance frequency separation, characterized in that: include: According to the current CMG precession control value u and the motion state measurement output y of the CMG unmanned motorcycle, the estimated system state is obtained. and roll channel disturbance The system state includes the precession angle γ, the roll angle Roll angular velocity The estimated roll channel disturbance Separation into low frequency disturbances and high frequency disturbances Based on low frequency disturbance Calculate the actual state equilibrium point of the system Based on the estimated system status Balance point with actual state Generate preliminary precession control Based on high frequency disturbance Initial precession control Perform high-frequency disturbance feedforward compensation to generate a new precession control variable u; The newly generated precession control variable u is applied to the CMG unmanned motorcycle system to achieve anti-disturbance control.

2. The method according to claim 1, characterized in that According to the current CMG precession control value u and the motion state measurement output y of the CMG unmanned motorcycle, the estimated system state is obtained. and roll channel disturbance include: Define the expanded state vector γ is the precession angle, represents the roll angle, represents the roll angular velocity, d represents the roll channel disturbance, and the expansion system equation is established: Among them, δ represents the handlebar angle, v represents the forward speed of the rear wheel, g(·) is the nonlinear function of the system roll dynamics, and p is the derivative of the roll channel disturbance d. is the expansion system function; Based on the expanded system equation, the following expanded state observation equation is established: in, is the expanded state vector The estimated value of , L is the observation gain matrix, and C is the output matrix; The error equation is obtained: in, Determine the observation gain matrix L so that A o -LC is stable and the error e converges, then The first three components are used as the estimated system state And at this time The fourth component of is taken as the estimated roll channel disturbance 3. The method according to claim 1, characterized in that The estimated roll channel disturbance Separation into low frequency disturbances and high frequency disturbances include: Estimation of the roll channel disturbance Through the low-pass filter, the low-frequency disturbance is obtained The transfer function of the low-pass filter is Where T is an adjustable time constant parameter used to adjust the cutoff frequency of the filter, and s is the complex variable of the Laplace transform; Estimation of the roll channel disturbance Through the high-pass filter, high-frequency disturbance is obtained The transfer function of the high-pass filter is 4. The method according to claim 1, characterized in that: The actual state equilibrium point of the computing system , the precession angle balance point is set to the preset zero position.

5. The method according to claim 4, characterized in that Based on low frequency disturbance Calculate the actual state equilibrium point of the system include: The zero point of the roll angle balance point function is solved based on the Newton iteration method. The roll angle balance point function is as follows: Among them, δ t and v t is the input command, g(·) is the nonlinear function of the system rolling dynamics; The roll angle at the end of the Newton iteration method The value of the roll angle balance point And get the actual state equilibrium point 6. The method according to claim 1, characterized in that Based on the estimated system status Balance point with actual state Generate preliminary precession control include: exist The following system state space equations are linearized: Where f(x) represents the system dynamics function, h(x) is the control input matrix, and D is the constant vector; definition and Building a closed-loop controller Where K is the feedback gain matrix, and the feedback gain matrix K is adjusted so that the closed-loop matrix A c -B c K is stable, and A c -B c When K reaches a stable As the initial precession control 7. The method according to claim 6, characterized in that Based on high frequency disturbance Initial precession control Perform high-frequency disturbance feedforward compensation to generate a new precession control variable u, including: The high-frequency disturbance feedforward compensation function is calculated according to the following formula: Among them, I b is the moment of inertia parameter, I fz is the flywheel moment of inertia parameter, Ω is the rotation angular velocity; Generate a new precession control value u according to the following formula:

8. A CMG unmanned motorcycle anti-disturbance control device based on disturbance frequency separation, characterized in that: include: The disturbance observer is used to measure the output y based on the current CMG precession control quantity u and the motion state of the CMG unmanned motorcycle to obtain the estimated system state and roll channel disturbance The system state includes the precession angle γ, the roll angle Roll angular velocity High and low frequency separators are used to convert the estimated roll channel disturbance Separation into low frequency disturbances and high frequency disturbances Perturbation equilibrium point calculator for low frequency perturbations Calculate the actual state equilibrium point of the system Controller for estimated system states Balance point with actual state Generate preliminary precession control High-frequency disturbance feedforward compensator is used to Initial precession control Perform high-frequency disturbance feedforward compensation to generate a new precession control variable u; The anti-disturbance controller is used to apply the newly generated precession control quantity u to the CMG unmanned motorcycle system to achieve anti-disturbance control.

9. An electronic device, characterized in that: The device comprises a memory and a processor, wherein the memory is used to store computer instructions executable on the processor, and the processor is used to implement the method according to any one of claims 1 to 7 when executing the computer instructions.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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