CN108845500A - A kind of antenna for satellite communication in motion disturbance observation compensating control method - Google Patents
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Abstract
The invention discloses a kind of antenna for satellite communication in motion disturbance observation compensating control methods, belong to antenna for satellite communication in motion technical field of servo control.It installs feedforward gyro additional for feedforward control needs common in engineering, and disturbance can only realize the deficiency of part compensation, proposes a kind of method for utilizing the inertial navigation angular velocity information installed on antenna turntable and motor speed information to estimate carrier turbulence angular speed and compensate.This method uses Subspace method to establish antenna servo control system model first, carrier turbulence angular speed model is fitted using order Oscillating link, then the two is merged into building state equation, state observer is established, optimum state is solved using LQR method and exports feedback matrix L, realizes disturbance optimal estimation, finally use H ∞ method, disturbance compensation filter is designed, the influence that disturbance generates control object is offset, completes the design of disturbance observation compensating controller.
Description
Technical Field
The invention relates to the technical field of design of a communication-in-moving antenna servo control system, in particular to a disturbance observation compensation control method of a vehicle-mounted communication-in-moving antenna.
Background
The structure of a communication-in-motion system is complex, the working environment is variable, the requirement on tracking accuracy is high, the servo control of a communication-in-motion antenna is a difficult point, the research of a servo control algorithm is developed to various control methods such as active disturbance rejection control, fuzzy control, LQR optimal quadratic form and the like through the traditional PID (Proportion integration differentiation), lead-lag and variable structure PID, but the control algorithm based on the modern control theory is mostly used for simulation calculation, and the application in engineering practice is less.
In engineering practice, an open-closed loop composite control method is usually adopted, closed-loop control is carried out by adopting PID, notch filters and the like, and the angle or angular speed of carrier motion is measured to carry out feedforward control. In a communication-in-motion antenna servo control system, in order to realize feedforward control, a gyroscope needs to be added to measure the carrier speed, the measured gyroscope speed is given to an antenna driving unit through simple proportional control, and direct compensation of carrier disturbance is realized.
In summary, the feedforward control method adopted at present has the following disadvantages:
1) a gyro sensor is required to be installed on the carrier to measure the movement angular velocity of the carrier, measuring equipment is added in a servo system, and the cost of the communication-in-motion antenna is increased.
2) The feedforward controller is too single in form, the compensation effect is greatly influenced by the performance of the gyroscope, and only partial compensation of disturbance can be realized.
3) Under the condition of large motor-driven carrier, antenna vibration is easy to cause, and in order to ensure the robust stability of the antenna, the feedforward control is used in a derating way, and a certain margin is reserved.
Disclosure of Invention
In view of this, the present invention is directed to avoid the disadvantages in the background art, and provides a disturbance observation compensation control method for a communication-in-motion antenna, which has the characteristics of simplicity, practicality, small calculation amount, and wide application range.
In order to achieve the above purpose, the technical problem to be solved by the present invention is realized by the following technical scheme:
a disturbance observation compensation control method for a communication-in-motion antenna comprises the following steps:
(1) determining a servo control system model; in a specific mode, the method comprises the following steps of,
giving a pseudorandom sequence input of a servo control system, collecting angular velocity information of inertial navigation, and processing identified input and output data by adopting a subspace method to obtain a state equation of the antenna servo control system;
(2) determining a disturbance model; in a specific mode, the method comprises the following steps of,
acquiring angular velocity data of inertial navigation under typical working conditions of an antenna and performing spectrum analysis to obtain a disturbance power spectrum, approximately describing a road spectrum by adopting a standard second-order oscillation link, and selecting a proper undamped natural frequency omega according to the road spectrumnThe shaping filter can contain all disturbance information under the working condition of the antenna;
(3) determining a disturbance observer model; in a specific mode, the method comprises the following steps of,
combining the servo control model and the disturbance model, constructing a new state equation, and establishing a state observer according to the expanded state equation;
(4) determining an output feedback matrix of the state observer; in a specific mode, the method comprises the following steps of,
selecting an optimal criterion by adopting a linear quadratic regulator method, and determining an output feedback matrix of the state observer;
(5) determining a disturbance compensation control controller; in a specific mode, the method comprises the following steps of,
and designing a disturbance compensation filter Q(s) by adopting an H-infinity method, superposing the disturbance estimation to the input end of the control object, offsetting the influence of the disturbance on the control object and finishing the disturbance compensation control.
Optionally, the specific way of processing the identified input and output data by using the subspace method in the step (1) is to use an n4sid () function in MATLAB to implement the processing.
Optionally, the specific way of determining the output feedback matrix of the state observer in step (4) is to use lqr () function in MATLAB.
Compared with the prior art, the invention has the following advantages:
1) the method adopts a Subspace method to identify a system model, utilizes a second-order oscillation link to fit a disturbance model, and designs a disturbance observer through an LQR method, thereby realizing reliable estimation of the carrier disturbance angular velocity, reducing measurement components and reducing the product cost.
2) The disturbance compensation control filter based on the H infinity norm is designed, the carrier disturbance is optimally compensated, the system robustness is good, and the influence of gyro noise is small.
Drawings
FIG. 1 is a block diagram of a disturbance observation compensation control system according to an embodiment of the present invention;
FIG. 2 is a block diagram of a state observer according to an embodiment of the present invention;
fig. 3 is a block diagram of a disturbance compensation system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
A servo control system model is established through system identification, a carrier disturbance model is established through second-order oscillation link fitting, a disturbance observer is established, an observer output feedback matrix is solved through an LQR method, estimation of the angular velocity of carrier motion is achieved, a disturbance compensation filter based on H infinity is designed, disturbance optimal compensation is achieved, the disturbance observation compensation control system is composed as shown in figure 1, a state observer is shown in figure 2, and a disturbance compensation system is shown in figure 3.
Several specific embodiments of the method are as follows:
example 1
A disturbance observation compensation control method for a communication-in-motion antenna is used for estimating the movement speed of a vehicle body in the use process of the communication-in-motion antenna and carrying out disturbance compensation, and comprises the following steps:
1) establishing a servo control system model; in a specific mode, the method comprises the following steps of,
and obtaining a servo control system model by a system identification method, identifying the input as the antenna motion angular velocity, outputting the inertial navigation angular velocity on the antenna by using a pseudorandom sequence and adopting a Subspace method for identification, and realizing the identification by using MATLAB programming.
2) Establishing a disturbance model of carrier motion; in a specific mode, the method comprises the following steps of,
and (3) adopting a rational formula of a second-order form as a filter for describing the motion of the carrier, constructing a disturbance spectrum of the motion of the carrier, adopting a standard second-order oscillation link to approximately describe a disturbance model due to the complexity and the changeability of the working condition of the communication-in-motion antenna, and determining parameters such as oscillation frequency, damping ratio and the like according to the actual working condition.
3) Constructing a disturbance observer; in a specific mode, the method comprises the following steps of,
converting the controlled object model and the disturbance model obtained in the step 1 and the step 2 into a state equation form, combining the two to obtain an extended state equation, and establishing a state observer by using the extended state equation to realize estimation of internal state and carrier disturbance, wherein the disturbance observer is in the following form:
wherein,for the purpose of the estimation of the internal state,for disturbance estimation of carrier motion, AoExpanding the state matrix of the equation of state for the servo system, BoTo expand the input matrix of the equation of state, Co、CdThe output matrixes of the extended state equation and the disturbance state equation are respectively, and L is an output feedback matrix of the disturbance observer.
4) Determining an output feedback matrix of a disturbance observer; in a specific mode, the method comprises the following steps of,
constructing a state error equation by using the state estimation in the step 3, constructing a cost function of the optimal quadratic form of the LQR according to the criterion of minimizing the state estimation error,
and selecting an Q, R matrix, resolving a state feedback matrix L by using an LQR function of MATLAB, and estimating the angular velocity of the motion of the carrier by using the disturbance observer established in the step 3.
5) Determining a disturbance compensation filter Q(s); in a specific mode, the method comprises the following steps of,
T1(s) is a stable, regular transfer function, usually in the form of a first-order inertial element, T2(s) is the controlled object transfer function, and the filter Q(s) is designed so that T is1(s)-T2Infinity norm of (S) Q (S) minimum, T2(S) Q (S) is close to T1(s) disturbance estimation of the disturbance observer outputAnd the antenna is loaded to the input end of the antenna driver through a filter Q(s), so that the antenna disturbance is counteracted to the maximum extent, and the disturbance compensation is realized.
And (4) bringing the L matrix in the step (4) and the Q(s) filter in the step (5) into the disturbance observer in the step (3), and realizing a disturbance observation compensation control algorithm by using C language programming.
And finishing disturbance observation compensation control design of the communication-in-motion antenna.
Optionally, the pseudo-random sequence in step 1 is generated by Matlab software, and the parameters of the pseudo-random sequence are set as: clock period 0.01 seconds, signal length 2047, repetition period 4, signal amplitude 2 °/s. The Subspace recognition is implemented through the n4sid () function of MATLAB, with the model order parameter selection 'best'.
Optionally, the controlled object model and the disturbance model in step 3 are converted into a state equation form, and implemented by tf2ss () function of Matlab.
Optionally, the LQR algorithm described in step 4 is implemented by an LQR () function of Matlab.
The method aims at the defect that a feedforward gyroscope is required to be additionally arranged in common feedforward control in engineering and only partial compensation can be realized in disturbance, and provides a method for estimating and compensating the disturbance angular velocity of a carrier by using inertial navigation angular velocity information and motor rotating speed information arranged on an antenna turntable. The method comprises the steps of firstly, establishing an antenna servo control system model by adopting a Subspace method, fitting a carrier disturbance angular velocity model by utilizing a second-order oscillation link, then combining the two to establish a state equation, establishing a state observer, solving an optimal state output feedback matrix L by adopting an LQR method, realizing disturbance optimal estimation, and finally designing a disturbance compensation filter by adopting an H-infinity method, offsetting the influence of disturbance on a control object and completing disturbance observation compensation control design.
Example 2
A disturbance observation compensation control method for a communication-in-motion antenna comprises the following steps:
1) determining a servo control system model; the concrete form is that,
the method comprises the steps of obtaining a model of an antenna servo control system through a system identification method, generating a pseudorandom sequence by using MATLAB as the speed given of an antenna, sending a motor drive through a CAN bus by a servo control unit to acquire the speed given of the antenna and the angular speed output by inertial navigation in real time, and storing the angular speed in the servo control unit in a dat file form.
After data acquisition is finished, MATLAB programming is utilized to import data, a subspace method is adopted to identify a servo system model, and the model order parameter selection 'best' is realized through an n4sid () function.
2) Determining a disturbance signal model; the concrete form is that,
acquiring angular velocity data of inertial navigation under the conventional working condition of the antenna, and performing spectral analysis on the inertial navigation angular velocity data by using a direct method to obtain a disturbance power spectrum. The power spectrum analysis can be realized by pwelch, spectrum function provided in Matlab.
The road spectrum is approximately described using a standard second order oscillation link, as shown below,
in the formula, xi is the damping ratio of the system, and is selected as the optimal damping ratio of 0.707 and omeganIn order to achieve a natural frequency without damping,and selecting according to the spectrum result to ensure that the power spectrums of the two are consistent, thereby realizing the approximate description of the carrier motion spectrum.
3) Determining a disturbance observer model; the concrete form is that,
converting the controlled object model and the disturbance model obtained in the step 1 and the step 2 into a state equation form, wherein the state equation form of the controlled object model is as follows,
y＝Cx，
wherein, A is a state matrix of a state equation of the controlled object, B is an input matrix of the state equation of the controlled object, C is an output matrix of the state equation of the controlled object, u is input and refers to the rotation angular velocity of the antenna, y is output and refers to the angular velocity of inertial navigation output. The matrix A, B, C is derived from the model in step 1 by the tf2ss () function.
The perturbation model state equation is in the form of,
wherein A isdFor perturbing the state matrix of the state equation, BdAs input matrix for perturbing the equation of state, CdAnd in order to disturb the output matrix of the state equation, w is random noise, and d is the angular velocity of the motion of the carrier. Matrix Ad、Bd、CdThe model in step 2 is converted by a tf2ss () function.
And combining the controlled object model and the disturbance model to obtain an extended state equation in the following form:
the above formula can be abbreviated as follows:
in the formula,
constructing a disturbance observer by utilizing an extended state equation, wherein the observer is composed as shown in figure 2, and the state equation of the disturbance observer is as follows:
wherein,for the purpose of the estimation of the internal state,for disturbance estimation of carrier motion, AoExpanding the state matrix of the equation of state for the servo system, BoTo expand the input matrix of the equation of state, Co、CdThe output matrixes of the extended state equation and the disturbance state equation are respectively, and L is an output feedback matrix of the disturbance observer.
4) Determining an output feedback matrix of the observer; the concrete form is that,
taking the state error and the output error as new state and output, constructing an error state equation,
wherein,
the dual form of the error state equation is,
in order to ensure that the output error of the observer is minimum, an objective function is selected as follows:
the cost function of LQR may be expressed as:
resolving a state feedback matrix L by using an LQR function in MATLAB, wherein the parameter is selected to be Q ═ BwBw TR ═ ρ I, and N ═ 0. Resolving to obtain a state feedback matrix K, wherein an observer gain matrix L is equal to KT。
And (4) substituting the matrix L into the disturbance observer in the step 4 to realize disturbance estimation.
5) Determining a disturbance compensation filter
The general expression of the Q(s) function of the disturbance observer filter is
Wherein N is the order of the denominator τ s +1, M is the order of τ s in the numerator, λrRepresenting a constant coefficient.
T1(s) is a transfer function of the stationary regularization, T2(s) is the controlled object transfer function, and the filter Q(s) is designed so that T is1(s)-T2Infinity norm of (S) Q (S)Minimum, T2(S) Q (S) is maximally close to T1(s) the disturbance observation compensation control system is composed as shown in FIG. 3.
T1(s) typically takes the form of a first order inertial element, typically in the form,
wherein, the value of tau is related to the resonant frequency of the antenna, the working condition and the like, and is usually 0.001-0.01.
T2(s) the identification is obtained through the system identification in the step 1, the antenna system contains non-linear factors such as tooth gaps, time delay and the like, the antenna is treated as a linear system in the identification process, and T2(s) there may be a right half-plane zero, T, after pole-zero cancellation2(s) there is only one zero or no zero. When there is a zero point, the zero point,
when there is no zero point, the zero point,
disturbance estimation of a disturbance observer outputAnd the antenna is loaded to the input end of the antenna driver through a filter Q(s), so that the antenna disturbance is counteracted to the maximum extent, and the disturbance observation compensation control is realized.
Example 3
A disturbance observation compensation control method for a communication-in-motion antenna is suitable for disturbance observation compensation in the design process of a communication-in-motion antenna servo controller, and comprises the following steps:
1) determining a servo control system model
A pseudo-random sequence program is written by utilizing Matlab, parameters of pseudo-random sequence signals are selected to be 0.01s of clock period, 2047 of signal length, 4 of repetition period and 2 (degree/s) of signal amplitude, the pseudo-random sequence signals are input as the speed of an azimuth axis of an antenna and are sent to a motor driver through a CAN bus, the angular speed of an inertial navigation z-axis installed on an antenna loading disc is output, and input and output data in the identification process are collected and stored through the CAN bus.
Importing input and output data into Matlab, identifying a state equation model of the system by using an n4sid () function of Matlab, and selecting 'best' by using a model order parameter.
2) Determining a disturbance signal model
The communication-in-motion antenna is used for running test under typical road conditions, inertial navigation angular velocity data under the azimuth locking state are collected, the collected data are led into Matlab, spectrum estimation is carried out by virtue of pwelch and spread functions, and the spectrum range of a road spectrum under the typical road conditions is obtained.
The road spectrum is approximately described using a standard second order oscillation link, as follows:
in the formula, xi is selected as the optimal damping ratio of 0.707 and omeganAnd carrying out proper selection according to the frequency range of the road spectrum.
3) Determining a disturbance observer model
Converting the second-order oscillation link model of the disturbance signal obtained in the step into a state space through a tf2ss () function of Matlab, combining an azimuth axis servo system state space equation and a disturbance signal state space equation into a new state space equation according to the form of an extended state equation in the technical scheme, and writing a disturbance observer equation according to the new state space equation, wherein the output quantity of a state observer is the carrier disturbance angular velocity.
4) Determining observer output feedback matrix
Taking the state estimation error and the output error as a new state and an output, constructing an estimation error state equation, constructing a state space equation meeting an LQR () function by using the dual characteristic of the state equation, selecting a target function, and decomposing into parameters of the LQR function, wherein Q is BwBw TR ═ ρ I, and N ═ 0. Solving the LQR () to obtain a state feedback matrix K, wherein an observer gain matrix L is equal to KT。
5) Determining a disturbance estimate
Substituting the observer output feedback matrix into a disturbance observer equation, discretizing, and writing a c language program according to the discretization form of the disturbance estimation equation.
6) Determining a disturbance compensation filter
T1(s) selecting a first-order inertia element, bandwidth and identified servo system model bandwidth, T2(s) the servo system model obtained by identification, the antenna system contains non-linear factors such as backlash and time delay, the antenna is treated as a linear system in the identification process, so that the right half-plane zero point exists in the representation model, and T is calculated2(s) zero point s0The disturbance observation compensation filter is as follows:
discretizing the disturbance observation compensation filter, and writing a c language program according to the discretization form.
In a word, the method firstly carries out modeling, and the modeling is divided into two parts, namely a servo control system model and a carrier disturbance angular velocity model. The servo control system model acquires inertial navigation angular velocity data by inputting given excitation, and a Subspace method is adopted to obtain an antenna servo control system state equation; the carrier disturbance angular velocity model carries out frequency spectrum analysis on collected data by collecting angular velocity data of inertial navigation in the actual running process of the antenna, selects a second-order oscillation link to carry out parameter fitting, and determines a disturbance model. And then designing a state observer, merging and expanding the servo control model and the disturbance model into a state equation, establishing the state observer equation, and calculating a feedback matrix L by an optimal method of an LQR linear quadratic regulator to complete the design of the disturbance observer. And finally, designing a Q filter by adopting an H-infinity method, superposing the disturbance estimation to the input end of the control object, offsetting the influence of the disturbance on the control object and finishing the disturbance observation compensation design.
The invention relates to a method for estimating and compensating carrier disturbance by collecting sensor information and adopting a state observer. Compared with the prior art, the method does not need to additionally install a feedforward gyroscope, has the characteristics of simplicity, practicability, wide application range and optimized compensation of disturbance information, and is an important improvement on the prior art.
Claims (3)
1. A disturbance observation compensation control method for a communication-in-motion antenna is characterized by comprising the following steps:
(1) determining a servo control system model; in a specific mode, the method comprises the following steps of,
giving a pseudorandom sequence input of a servo control system, collecting angular velocity information of inertial navigation, and processing identified input and output data by adopting a subspace method to obtain a state equation of the antenna servo control system;
(2) determining a disturbance model; in a specific mode, the method comprises the following steps of,
typical working condition of collecting antennaPerforming spectrum analysis on angular velocity data of inertial navigation to obtain a disturbance power spectrum, approximately describing a road spectrum by adopting a standard second-order oscillation link, and selecting a proper undamped natural frequency omega according to the road spectrumnThe shaping filter can contain all disturbance information under the working condition of the antenna;
(3) determining a disturbance observer model; in a specific mode, the method comprises the following steps of,
combining the servo control model and the disturbance model, constructing a new state equation, and establishing a state observer according to the expanded state equation;
(4) determining an output feedback matrix of the state observer; in a specific mode, the method comprises the following steps of,
selecting an optimal criterion by adopting a linear quadratic regulator method, and determining an output feedback matrix of the state observer;
(5) determining a disturbance compensation controller; in a specific mode, the method comprises the following steps of,
and designing a disturbance compensation filter Q(s) by adopting an H-infinity method, superposing the disturbance estimation to the input end of the control object, offsetting the influence of the disturbance on the control object and completing the disturbance compensation.
2. The communication-in-motion antenna disturbance observation compensation control method according to claim 1, wherein the processing of the identified input and output data by the subspace approach in the step (1) is implemented by using an n4sid () function in MATLAB.
3. The communication-in-motion antenna disturbance observation compensation control method according to claim 1, wherein the step (4) of determining the output feedback matrix of the state observer is implemented by using lqr () function in MATLAB.
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