Suspension type horizontal servo system control method and system based on equivalent input interference

Abstract

The invention discloses a suspension type horizontal follow-up system control method and system based on equivalent input interference, and relates to the technical field of micro-low gravity simulation, and the method comprises the steps: building a dynamic model of a suspension type horizontal follow-up system, and determining a horizontal follow-up control target; the driving force of the spacecraft is used as system disturbance, a dynamic model of the system is converted into a linear state space model, and the model is simplified according to a control target; designing an equivalent input disturbance observer by using a full-order state observer; when the spacecraft operates autonomously based on the driving force of the spacecraft, according to the system state and response output, the equivalent input disturbance observer is used for estimating the trolley driving force which causes the same sling deflection angle effect as the driving force of the spacecraft, and feedforward compensation is carried out on original PID control input according to the estimated trolley driving force; the final trolley driving force is obtained to drive the trolley, and high-precision following of the horizontal position of the spacecraft under the ground micro-low gravity simulation scene is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of micro-low gravity simulation, and in particular to a control method and system for a suspended horizontal follow-up system based on equivalent input interference. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Micro-low-gravity simulation is a crucial research field that has emerged alongside the development of deep space exploration technology and the need for extraterrestrial takeoff and landing missions. It provides core technical support for critical mission stages such as spacecraft landing and takeoff, and several related studies have been conducted in this area. Within this context, by building a suspended micro-low-gravity simulation system, designing micro-low-gravity simulation control methods, simulating the motion characteristics of spacecraft in a ground-based environment, and thoroughly analyzing and demonstrating their performance, these systems are of irreplaceable value in the smooth implementation of space missions and in supporting major projects such as deep space exploration and manned lunar and Mars landings.

[0004] The reliability verification of spacecraft (including satellites, manned spacecraft, and space robots) relies heavily on ground-based micro-low gravity environment simulation experiments. Compared to ground-based micro-low gravity simulation methods such as drop tower, parabolic flight, water flotation, and air flotation, the suspension method for gravity compensation is more effective, reliable, and economical. To simulate micro-low gravity on the Earth's surface using a suspension system, the vertical tension of the suspension cable must be controlled to provide real-time gravity compensation for the spacecraft. Simultaneously, the horizontal tracking module must track the spacecraft's movement to ensure the suspension cable remains vertical. Otherwise, if the suspension cable tilts, the gravity unloading effect will not only be severely weakened, but the suspension cable will also exert a horizontal force on the spacecraft, affecting its motion state and, in turn, compromising the authenticity of the micro-low gravity simulation. Therefore, in a suspended micro-low gravity simulation system, active tracking control technology for the suspension point position is crucial.

[0005] In order to prevent the cable tension from generating excessive lateral forces that would affect the autonomous motion of the spacecraft, the cable must be kept as vertical as possible, thereby improving the simulation accuracy of the system. In recent years, numerous control strategies for the horizontal tracking direction of suspended micro-low-gravity simulation systems have been proposed. For example, taking trajectory tracking control as an example, an adaptive sliding mode control method has been proposed. Although it can compensate for the effects of parameter uncertainty to a certain extent, its control mechanism relies on high-gain switching terms, which can easily lead to system chattering and deterioration of tracking performance in practical applications. The proposed tracking control method based on the time integral of the disturbance force has a controller form similar to the classic proportional-integral-derivative (PID) control. Therefore, the tracking control effect of the suspended object is similar to the PID control effect and cannot be further improved. The proposed tracking control method based on reinforcement learning requires a large amount of on-orbit training data, which limits its engineering practicality. In addition, since the load in the servo system (such as a spacecraft) has its own unmeasurable driving force, it can autonomously adjust its motion trajectory according to mission requirements. Most existing control methods fail to accurately estimate this driving force. If the cable deflection angle is regarded as the system output, it is currently impossible to accurately estimate the equivalent trolley driving force of the spacecraft driving force, which leads to a large cable deflection angle control error and poor servo effect. Summary of the Invention

[0006] In order to address the deficiencies of the above-mentioned prior art, the present invention provides a control method and system for a suspended horizontal servo system based on equivalent input interference. The unknown driving force of the spacecraft itself is regarded as external interference, and an equivalent input interference (Equivalent-Input-Disturbance, EID) equivalent to the effect of the external interference is introduced. A control algorithm for the suspended horizontal servo system based on the equivalent input interference is designed, so as to achieve high-precision tracking of the horizontal position of the spacecraft in a ground micro-low gravity simulation scenario.

[0007] In a first aspect, the present invention provides a control method for a suspended horizontal follow-up system based on equivalent input disturbance.

[0008] A control method for a suspended horizontal follow-up system based on equivalent input disturbance, comprising:

[0009] The Lagrangian modeling method is used to establish the dynamic model of the suspended horizontal servo system and determine the horizontal servo control target.

[0010] Taking the spacecraft's own driving force as the system disturbance, the system's dynamic model is converted into a linear state space model, and the model is simplified according to the control objectives;

[0011] Based on the simplified model, an equivalent input disturbance observer is designed using a full-order state observer.

[0012] When the spacecraft operates autonomously based on its own driving force, the equivalent input disturbance observer is used to estimate the trolley driving force that causes the same cable deflection effect as the spacecraft's own driving force according to the system state and response output. The original PID control input is feedforward compensated according to the estimated trolley driving force to obtain the final trolley driving force to drive the trolley, thereby achieving high-precision tracking of the spacecraft by the trolley in the system.

[0013] In a second aspect, the present invention provides a suspension type horizontal follow-up system control system based on equivalent input interference.

[0014] A control system for a suspended horizontal follow-up system based on equivalent input disturbance, comprising:

[0015] The dynamic modeling module is used to establish the dynamic model of the suspended horizontal servo system using the Lagrangian modeling method and determine the horizontal servo control target;

[0016] The model simplification module is used to convert the system's dynamic model into a linear state space model using the spacecraft's own driving force as the system disturbance, and to simplify the model according to the control objectives;

[0017] Equivalent input disturbance observer design module, used to design equivalent input disturbance observer based on simplified model and full-order state observer;

[0018] The horizontal follow-up control module is used to estimate the trolley driving force that causes the same cable deflection effect as the spacecraft's own driving force based on the system state and response output using the equivalent input disturbance observer when the spacecraft is operating autonomously based on its own driving force. The original PID control input is feedforward compensated based on the estimated trolley driving force to obtain the final trolley driving force to drive the trolley, thereby achieving high-precision tracking of the spacecraft by the trolley in the system.

[0019] In a third aspect, the present invention further provides an electronic device comprising: a memory for storing executable instructions; and a processor for implementing the above-mentioned method for controlling a suspended horizontal follow-up system based on equivalent input interference when executing the executable instructions stored in the memory.

[0020] In a fourth aspect, the present invention further provides a computer-readable storage medium storing executable instructions for causing a processor to execute the executable instructions to implement the above-mentioned method for controlling a suspended horizontal follow-up system based on equivalent input interference.

[0021] In a fifth aspect, the present invention also provides a computer program product, which includes executable instructions, and the executable instructions are stored in a computer-readable storage medium; wherein, when the processor of the electronic device reads the executable instructions from the computer-readable storage medium and executes the executable instructions, the above-mentioned suspended horizontal follow-up system control method based on equivalent input interference is implemented.

[0022] One or more of the above technical solutions have the following beneficial effects:

[0023] 1. The present invention provides a control method and system for a suspended horizontal servo system based on equivalent input interference. By establishing a nonlinear dynamic model of the suspended horizontal servo system on the basis of a traditional bridge crane system and then converting it into a linear state space form, the unknown spacecraft's own driving force is regarded as external interference, and an equivalent input interference EID equivalent to the external interference effect is introduced to form a control algorithm for the suspended horizontal servo system based on the equivalent input interference. The algorithm equates the spacecraft's own driving force to the input channel interference quantity. Through the designed equivalent input interference observer, the trolley driving force that causes the same cable deflection effect is accurately estimated, thereby performing feedforward compensation on the control input provided by the PID, significantly eliminating the disturbance effect caused by the spacecraft driving force on the cable deflection, ensuring the tracking accuracy and speed of the suspended horizontal servo system, and realizing high-precision tracking of the spacecraft's horizontal position in a ground micro-low gravity simulation scenario. The algorithm is suitable for high-precision servo control scenarios during ground testing and verification of spacecraft.

[0024] 2. Based on the idea of EID, the present invention can also cleverly deal with internal and external interference of the servo system at the same time, and has strong robustness. Therefore, this control algorithm can be applied to industrial occasions, especially high-precision servo control scenarios in the spacecraft assembly process. It has a wider range of adaptability and is more convenient to use.

[0025] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0027] Figure 1 Schematic diagram of a suspended micro-low gravity simulation system according to an embodiment of the present invention;

[0028] Figure 2 Schematic diagram of EID horizontal follow-up control based on a suspended horizontal follow-up system in an embodiment of the present invention;

[0029] Figure 3 Schematic diagram of the effects achieved by using EID control and PID control methods in an embodiment of the present invention. DETAILED DESCRIPTION

[0030] It should be noted that the following detailed descriptions are exemplary only and are intended to describe specific embodiments and provide further explanation of the present invention, and are not intended to limit the exemplary embodiments according to the present invention. Unless otherwise indicated, all technical and scientific terms used herein have the same meanings as those commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0031] The overall idea proposed by the present invention is:

[0032] The present invention is based on the Euler-Lagrangian dynamic model of a traditional bridge crane. First, a nonlinear dynamic model of a suspended horizontal follow-up system is established, which is then converted into a linear state space model. Then, based on the model and EID, an equivalent input disturbance observer is designed and implemented. The spacecraft's own driving force is equivalent to the input channel disturbance, and an equivalent input disturbance is estimated in real time. The cable deflection angle caused by the equivalent input disturbance acting on the trolley is consistent with the cable deflection angle caused by the spacecraft's own driving force. On this basis, the observed equivalent input disturbance is superimposed on the original PID controller. Through feedforward compensation, the disturbance of the cable deflection angle caused by the spacecraft's own driving force can be greatly eliminated, thereby quickly reducing the cable deflection angle and ensuring the tracking accuracy of the suspended horizontal follow-up system.

[0033] Example 1

[0034] This embodiment proposes a control method for a suspended horizontal follow-up system based on equivalent input disturbance, the method comprising the following steps:

[0035] Step S1: Using the Lagrangian modeling method, a dynamic model of the suspended horizontal servo system is established to determine the horizontal servo control target.

[0036] For example Figure 1 In this embodiment, the suspended micro-low gravity simulation system shown in the figure is based on the Euler-Lagrangian dynamic model of a traditional bridge crane. According to the Lagrangian modeling method, the dynamic equations of the suspended horizontal follower system are obtained and the dynamic model is established. Among them, the dynamic model in compact matrix-vector form is:

[0037]

[0038] In the above formula, q = [x, θ] Tis the state vector, U=[u,0] T is the control input vector, F=[F x ,F θ ] T is the force and torque of the spacecraft's own driving force on the suspended horizontal servo system, where the force component in the direction of the trolley's motion is F x =Fsin 2 θ, the component moment in the direction of the sling deflection is F θ = Flcosθ, M(q) and are the inertia matrix and the centripetal Coriolis matrix respectively, and G(q) is the gravity vector. Its specific expression in the suspended horizontal follower system is:

[0039]

[0040] G(q)=[0 mglsinθ] T (4)

[0041] Among them, the trolley displacement x(t) is the driving state variable, and its corresponding control input is u(t); the cable deflection angle θ(t) is the non-driving state variable, and its corresponding control input is 0; the physical parameters of the suspended horizontal servo system include the spacecraft mass m, the trolley mass M, and the length l of the cable connecting the trolley and the spacecraft.

[0042] The horizontal follow-up control goal of this embodiment is: when the spacecraft operates autonomously based on its own driving force, the trolley can accurately track the motion trajectory of the spacecraft on the horizontal plane in real time, and keep the suspension cable almost perpendicular to the horizontal plane where the spacecraft suspension point is located, that is, to ensure that the deflection angle of the suspension cable approaches zero, as close to zero as possible.

[0043] Step S2: Using the spacecraft's own driving force as the system disturbance, the system's dynamic model is converted into a linear state space model, and the model is simplified according to the control objective.

[0044] First, the definition of equivalent input disturbance is given, namely Definition 1: Assume that there are two disturbances, disturbance one is only applied to the input channel of the system, and disturbance two can be applied to any part of the system. When these two disturbances act on the control system separately, the system output remains consistent. Then disturbance one is called the equivalent input disturbance of disturbance two.

[0045] Based on the above definition, in this embodiment, the spacecraft's own driving force is considered a system disturbance, which can adversely affect the output state of the suspended horizontal servo system (i.e., the cable deflection angle). Because the spacecraft's own driving force is unknown and unmeasurable, and the control system does not contain its internal model, a suitable disturbance observer is designed based on the EID principle to estimate the equivalent input disturbance of the spacecraft's own driving force in real time. This is then combined with the system's original control input to suppress its impact on the system output (i.e., the cable deflection angle), achieving high-precision control of the suspended horizontal servo system.

[0046] Furthermore, considering the existence of the spacecraft's own driving force (i.e., unknown disturbance), in order to facilitate the design of the equivalent input disturbance observer, the dynamic model (1) of the suspended horizontal follower system is converted into a linear state space equation form, which is:

[0047]

[0048] Among them, the state vector is defined d(t) includes the unknown external disturbance caused by the spacecraft's own driving force, as well as the internal disturbance caused by the model error and uncertainty after linearization. A is the system matrix and B is the control matrix, which can be expressed as:

[0049]

[0050] In addition, B d is the interference matrix, and since the interference d(t) may be applied to channels other than the control input channel, B and B d May have different dimensions.

[0051] As an implementation method, according to the above-mentioned follow-up control target, the suspended horizontal follow-up system of this embodiment only focuses on the cable deflection dynamics. Therefore, the relevant θ(t) and The two equations simplify the system model to:

[0052]

[0053] Among them, the state vector of the simplified system is y(t)=θ(t) is the system output, The expression is:

[0054]

[0055] On the basis of the above, considering the equivalent input interference d based on EID observation e (t) Applied only to the control input channel Above, the system model can be transformed from (8) into:

[0056]

[0057] Based on the expression of the above system model, let the control input u(t) = 0. According to Definition 1, if d e If d(t) and d(t) result in the same system output y(t), then d e (t) is the equivalent input interference of d(t). Therefore, in order to obtain the expression of the equivalent input interference, in this embodiment, according to the simplified system model above, the equivalent input interference d is designed. e (t). That is:

[0058] Step S3: Based on the simplified model, an equivalent input disturbance observer is designed using a full-order state observer.

[0059] First, based on the simplified linear state space model (9), a full-order state observer for the suspended horizontal follower system is designed as follows:

[0060]

[0061] Among them, r(t) is the state The observation vector, L is the observer gain matrix, u f (t) is a state feedback control input.

[0062] Then, define the state observation error And according to the state observation error, the full-order state observer of the system is optimized. Substituting it into formula (9), the system state observer can be obtained, which is expressed as:

[0063]

[0064] Afterwards, e (t) is the equivalent input interference of the original interference d(t). Here, the equivalent input interference d is also introduced. e Estimated value of (t) Define the estimated error Δd(t) of the equivalent input disturbance, namely:

[0065]

[0066] The estimated error Δd(t) is considered as an input of the observer system (11) and satisfies the following equation:

[0067]

[0068] By introducing the above formula (13), the relationship between the EID estimation error and the state observation error is established. Then, by substituting formulas (12) and (13) into formula (11), the system state observer based on the equivalent input disturbance EID can be obtained, which is expressed as:

[0069]

[0070] Based on the above formula, if the difference between the actual state and the observed state of the suspension horizontal servo system is zero, then the difference between the exact value and the estimated value of the equivalent input disturbance is also zero. That is, when the state observer converges, the estimated value of the equivalent input disturbance will also converge to the true value.

[0071] Finally, by combining the full-order state observer and the system state observer based on equivalent input disturbance, that is, combining Equations (10) and (14), we can calculate:

[0072]

[0073] According to the above formula (15), the estimated expression of the equivalent input disturbance of the suspended horizontal follow-up system is designed to complete the design of the equivalent input disturbance observer. The estimated expression of the disturbance is:

[0074]

[0075] Among them, the pseudo-inverse matrix

[0076] Step S4: When the spacecraft is operating autonomously based on its own driving force, the equivalent input disturbance observer is used to estimate the trolley driving force that causes the same cable deflection effect as the spacecraft's own driving force according to the system state and response output. The original PID control input is feedforward compensated according to the estimated trolley driving force to obtain the final trolley driving force to drive the trolley, thereby achieving high-precision tracking of the trolley to the spacecraft in the system.

[0077] like Figure 2 As shown in the figure, during the EID horizontal servo control based on the suspended horizontal servo system, the spacecraft operates autonomously based on its own driving force. At this time, the suspended horizontal servo system is first controlled by the traditional PID controller. At this time, the original PID control input u is obtained. f (t), and based on the system model, the response output y(t) of the system at the current moment can be obtained, combined with the original PID control input u at the current moment f (t), and use the full-order state observer to output the observed state r(t) at the current moment.

[0078] Secondly, according to the current state of the system And the observed state r(t), and the original PID control input u at the current moment f (t) and the control output u(t) fed back at the current moment, the equivalent input disturbance observer is used, that is, the above formula (16), to output the equivalent input disturbance at the current moment

[0079] Furthermore, based on the design of the above equivalent input disturbance observer, it can be found that The expression of the original control input u f (t) is directly related, so it is not possible to Directly act on the suspension level follow-up system, otherwise an algebraic loop problem will occur. Therefore, in this embodiment, a low-pass filter is defined as F(s), and the low-pass filter is used to filter the equivalent input interference estimate. Filtered disturbance estimate Expressed as:

[0080]

[0081] in, and They are and The Laplace transform of .

[0082] The filtered interference estimate obtained at this time is the estimated trolley driving force that causes the same cable deflection effect as the spacecraft's own driving force.

[0083] Finally, the equivalent input disturbance estimate (i.e., the estimated value of the trolley driving force) is combined with the original PID control input, and after feedforward compensation, the final trolley driving force is obtained to drive the trolley, which can achieve high-precision tracking of the horizontal position of the spacecraft in a ground-based low-gravity simulation scenario. The final system control law can be expressed as:

[0084]

[0085] In particular, the above formula (16) can also be written as:

[0086]

[0087] Furthermore, to verify the effectiveness of the method proposed in this embodiment, a suspended horizontal servo system was used for simulation. First, a traditional PID controller was used to control the suspended horizontal servo system. The basic controller was set as follows:

[0088]

[0089] Where, e = θ - θ d is the angle error of the sling angle, and the expected value of the sling angle θ d =0; in addition, the control parameters of the PID controller are set as P=50, I=2, and D=35.

[0090] At the same time, set the observer gain L = [1050000] T , the low-pass filter is The parameters of the controlled suspension horizontal servo system are set as follows: spacecraft mass m = 1 kg, trolley mass M = 7 kg, and the length of the sling connecting the trolley and the spacecraft is l = 0.8 m.

[0091] The response of the suspended horizontal servo system obtained by using the PID controller is as follows: Figure 3 As shown by the dotted line in , it can be found that the deflection angle obtained by using the PID controller is larger, and the follow-up response is slow from the performance of the control input u(t), so the trolley displacement is small and the follow-up accuracy is low.

[0092] Secondly, the EID method proposed in this embodiment is combined with the PID controller to perform follow-up control, and the resulting suspended horizontal follow-up system response is as follows: Figure 3 As shown by the solid line in , by comparing with the PID controller, it can be found that the deflection angle of the suspension rope is small and almost zero, and when the spacecraft's own driving force still exists, the deflection angle can quickly converge to zero, indicating that the trolley's follow-up response to the spacecraft is fast and accurate. At the same time, the above simulation results also show that the EID method proposed in this embodiment can more accurately estimate the equivalent input interference of the spacecraft's own driving force. The equivalent input interference force acts on the trolley to effectively offset the deflection angle of the suspension rope caused by the spacecraft's driving force. Therefore, the deflection angle of the suspension rope is almost zero throughout the control process. Therefore, the EID-based follow-up control algorithm proposed in this embodiment has good performance, which can effectively ensure the tracking accuracy and response speed of the suspended horizontal follow-up system, and achieve the purpose of precise follow-up.

[0093] Furthermore, the system parameters were adjusted multiple times in the simulation, and the simulation results all achieved good expected results, which proved that the EID-based suspended horizontal follow-up system control method proposed in this embodiment has excellent robustness, can handle model parameter uncertainty, and has strong engineering applicability.

[0094] Example 2

[0095] This embodiment provides a control system for a suspended horizontal follow-up system based on equivalent input disturbance, including:

[0096] The dynamic modeling module is used to establish the dynamic model of the suspended horizontal servo system using the Lagrangian modeling method and determine the horizontal servo control target;

[0097] The model simplification module is used to convert the system's dynamic model into a linear state space model using the spacecraft's own driving force as the system disturbance, and to simplify the model according to the control objectives;

[0098] Equivalent input disturbance observer design module, used to design equivalent input disturbance observer based on simplified model and full-order state observer;

[0099] The horizontal follow-up control module is used to estimate the trolley driving force that causes the same cable deflection effect as the spacecraft's own driving force based on the system state and response output using the equivalent input disturbance observer when the spacecraft is operating autonomously based on its own driving force. The original PID control input is feedforward compensated based on the estimated trolley driving force to obtain the final trolley driving force to drive the trolley, thereby achieving high-precision tracking of the spacecraft by the trolley in the system.

[0100] Example 3

[0101] This embodiment provides an electronic device, including: a memory for storing executable instructions; and a processor for implementing the above method provided in this embodiment when executing the executable instructions stored in the memory.

[0102] Example 4

[0103] This embodiment further provides a computer-readable storage medium storing executable instructions. When the executable instructions are executed by a processor, the processor will be caused to execute the above method provided in this embodiment.

[0104] Example 5

[0105] This embodiment provides a computer program product including executable instructions, which are computer instructions stored in a computer-readable storage medium. When a processor of an electronic device reads the executable instructions from the computer-readable storage medium and executes the executable instructions, the electronic device performs the method provided in this embodiment.

[0106] The steps involved in the above embodiments 2 to 5 correspond to those in embodiment 1. For detailed implementation, please refer to the relevant description of embodiment 1. The term "computer-readable storage medium" should be understood as a single medium or multiple media that includes one or more instruction sets; it should also be understood to include any medium that can store, encode, or carry an instruction set for execution by a processor and cause the processor to perform any method of the present invention.

[0107] Those skilled in the art will appreciate that the modules or steps of the present invention described above can be implemented using a general-purpose computer device. Alternatively, they can be implemented using program code executable by a computing device, which can then be stored in a storage device and executed by the computing device. Alternatively, they can be fabricated into separate integrated circuit modules, or multiple modules or steps can be fabricated into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0108] The above description is only a preferred embodiment of the present invention. Although the specific implementation of the present invention is described in conjunction with the accompanying drawings, it does not limit the scope of protection of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present invention.

Claims

1. A control method for a suspended horizontal follow-up system based on equivalent input disturbance, characterized in that: include: The Lagrangian modeling method is used to establish the dynamic model of the suspended horizontal servo system and determine the horizontal servo control target. Taking the spacecraft's own driving force as the system disturbance, the system's dynamic model is converted into a linear state space model, and the model is simplified according to the control objectives; Based on the simplified model, an equivalent input disturbance observer is designed using a full-order state observer. When the spacecraft operates autonomously based on its own driving force, the equivalent input disturbance observer is used to estimate the trolley driving force that causes the same cable deflection effect as the spacecraft's own driving force according to the system state and response output. The original PID control input is feedforward compensated according to the estimated trolley driving force to obtain the final trolley driving force to drive the trolley, thereby achieving high-precision tracking of the spacecraft by the trolley in the system.

2. The method for controlling a suspended horizontal follow-up system based on equivalent input disturbance according to claim 1, wherein: The goal of the horizontal follow-up control is: when the spacecraft operates autonomously based on its own driving force, the trolley can accurately track the motion trajectory of the spacecraft on the horizontal plane in real time, and keep the suspension cable always perpendicular to the horizontal plane where the spacecraft suspension point is located, that is, to ensure that the deflection angle of the suspension cable tends to zero.

3. The control method of a suspended horizontal follow-up system based on equivalent input disturbance according to claim 1, characterized in that: The design of the equivalent input disturbance observer is: Based on the simplified linear state space model, a full-order state observer for the suspended horizontal servo system is designed. Define the state observation error, and optimize the full-order state observer of the system according to the state observation error to obtain the system state observer; The estimated value of the equivalent input disturbance is introduced, and the estimated error of the equivalent input disturbance is defined. The estimated error is regarded as the control input of the observer and substituted into the system state observer to obtain the system state observer based on the equivalent input disturbance. By combining the full-order state observer and the system state observer based on equivalent input disturbance, the estimation expression of the equivalent input disturbance of the suspended horizontal follow-up system is designed, and the design of the equivalent input disturbance observer is completed.

4. The control method of a suspended horizontal follow-up system based on equivalent input disturbance according to claim 3, characterized in that: The full-order state observer of the suspended horizontal servo system is: Among them, r(t) is the state The observation vector, L is the observer gain matrix, u f (t) is a state feedback control input, y(t) is the system output; Define state observation error According to the state observation error, the full-order state observer of the system is optimized, and the system state observer is obtained as follows: in, d e (t) represents the equivalent input disturbance, m is the mass of the spacecraft, M is the mass of the trolley, and l is the length of the cable connecting the trolley and the spacecraft.

5. The control method of a suspended horizontal follow-up system based on equivalent input disturbance according to claim 3, characterized in that: The estimated expression of the equivalent input disturbance of the suspended horizontal servo system is: Among them, the pseudo-inverse matrix is the state vector, r(t) is the state The observation vector, u f (t) is a state feedback control input, u(t) is the control vector, θ(t) is the cable deflection angle, M is the mass of the trolley, and l is the length of the cable connecting the trolley and the spacecraft.

6. The method for controlling a suspended horizontal follow-up system based on equivalent input disturbance according to claim 1, wherein: The control process of the suspended horizontal servo system is as follows: When the spacecraft is operating autonomously based on its own driving force, the full-order state observer is used to output the observed state at the current moment based on the response output of the system at the current moment and the original PID control input at the current moment; According to the state and observation state of the system at the current moment, as well as the original PID control input at the current moment and the control output fed back at the current moment, the equivalent input disturbance observer is used to output the equivalent input disturbance at the current moment; The equivalent input disturbance estimate is filtered using a low-pass filter to obtain an estimate of the trolley driving force that causes the same cable deflection effect as the spacecraft's own driving force. The estimated value of the trolley driving force is combined with the original PID control input, and after feedforward compensation, the final trolley driving force is obtained to drive the trolley.

7. A suspension type horizontal follow-up system control system based on equivalent input disturbance, characterized in that: include: The dynamic modeling module is used to establish the dynamic model of the suspended horizontal servo system using the Lagrangian modeling method and determine the horizontal servo control target; The model simplification module is used to convert the system's dynamic model into a linear state space model using the spacecraft's own driving force as the system disturbance, and to simplify the model according to the control objectives; Equivalent input disturbance observer design module, used to design equivalent input disturbance observer based on simplified model and full-order state observer; The horizontal follow-up control module is used to estimate the trolley driving force that causes the same cable deflection effect as the spacecraft's own driving force based on the system state and response output using the equivalent input disturbance observer when the spacecraft is operating autonomously based on its own driving force. The original PID control input is feedforward compensated based on the estimated trolley driving force to obtain the final trolley driving force to drive the trolley, thereby achieving high-precision tracking of the spacecraft by the trolley in the system.

8. An electronic device, characterized in that: include: a memory for storing executable instructions; The processor is configured to implement the method for controlling a suspended horizontal follow-up system based on equivalent input interference as described in any one of claims 1 to 6 when executing the executable instructions stored in the memory.

9. A computer-readable storage medium, characterized in that Executable instructions are stored, which are used to cause the processor to execute the executable instructions to implement the suspension type horizontal follow-up system control method based on equivalent input interference as described in any one of claims 1 to 6.

10. A computer program product, characterized in that The computer program product includes executable instructions stored in a computer-readable storage medium; When the processor of the electronic device reads the executable instructions from the computer-readable storage medium and executes the executable instructions, the method for controlling a suspended horizontal follow-up system based on equivalent input interference as described in any one of claims 1 to 6 is implemented.

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