CN111142376B - Channel switching system and control method based on state observation composite feedback control - Google Patents
Channel switching system and control method based on state observation composite feedback control Download PDFInfo
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Abstract
The invention provides a channel switching system and a control method based on state observation composite feedback control.A feedback control framework with a state observer is adopted in two control channels, one channel is used as a control channel for output drive, the other channel is used as a hot backup channel for forbidding output drive, and when the channels are switched, the hot backup channel adopts state feedback quantity observed by the control channels to form a composite feedback control system for output drive; due to the adoption of the feedback quantity of the state observer during switching, the motion position and the motion speed of the servo mechanism before and after channel switching are effectively maintained, and smooth channel switching is realized. According to the invention, the feedback quantity of the state observer during switching is adopted, so that the motion position and the motion rate of the servo mechanism before and after channel switching are effectively maintained, the smooth channel switching is realized, the smooth channel switching of a real-time servo control system is ensured, the robustness of the control system is improved, the servo mechanism is prevented from being damaged due to stalling during channel switching, and the performance of the control system is optimized.
Description
Technical Field
The invention relates to the field of airborne servo motion control, in particular to a channel smooth switching method.
Background
The airborne servo motion system works in a vibration environment for a long time, and once the airborne servo motion system fails, flight faults are caused, so that the reliability requirement is high. Meanwhile, the servo motion system has the real-time control requirement and is easy to lose control after being disturbed. In order to improve the reliability of the servo motion system based on real-time control, a dual control channel architecture with a hot backup function is often adopted: in a normal state, the two channels run simultaneously, the enabling states are monitored mutually, and only one channel controls the servo mechanism to move; when the channels are switched, the new channel replaces the original channel in real time to continuously control the servo mechanism, and the motion state of the servo mechanism cannot be changed, so that the function and the performance of a servo motion system are ensured.
In order to meet the above requirements, smoothing is required when controlling channel switching. The key to smooth switching is to maintain the servo mechanism motion position and motion rate unchanged before and after switching. Since the moving velocity cannot be directly measured, an observer is designed with the moving position and the moving velocity of the servo as state quantities. When the system works normally, each channel adopts an independent state feedback control system; and when the channels are switched, a composite state feedback control system is constructed by adopting the state feedback quantity of the other channel.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a channel switching system and a control method based on state observation composite feedback control. In order to ensure the smooth switching of the channels, the invention provides a composite feedback control method based on state observation, which comprises the following steps: the observer is designed by taking the motion position and the motion speed of the servo mechanism as state quantities, an independent state feedback control system with observers is respectively constructed for two channels, then a composite state feedback control system with observers is constructed by controlling the change-over switch 1 and the change-over switch 2, and the motion position and the motion speed of the servo mechanism before and after channel switching are effectively maintained.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a channel switching system based on state observation composite feedback control comprises a control channel 1 and a control channel 2, wherein the control channel 1 and the control channel 2 respectively comprise a selector switch 1 and a selector switch 2, output control quantities of state feedback gain matrixes K1 and K2 are respectively fed back to input ends of the control channel 1 and the control channel 2, the input ends of the state feedback gain matrixes are respectively connected with input matrixes B1 and B2 of respective channels, the input matrixes B1 and B2 are divided into two paths again, the first path and system matrixes A1 and A2 of respective channels jointly enter an integrator, the output of the integrator enters a system matrix again to form a feedback link, and the output of the integrator is connected with output matrixes C1 and C2 of respective channels; the second path and system matrixes A1 and A2 of respective channels and output feedback matrixes Kc1 and Kc2 of respective channels jointly enter an integrator, and the output end of the integrator is a motion position observation variable of the respective channels
And
the output ends of the integrators are respectively fed back to system matrixes A1 and A2 to form a feedback link, the output ends of the integrators are respectively connected to the selector switch 1 and the selector switch 2 through state feedback gain matrixes K1 and K2 of respective channels, and the output ends of the integrators are respectively connected to the output matrixes of the respective channelsC1 and C2, the output matrixes C1 and C2 of the first path and the second path are fed back to the output feedback matrixes Kc1 and Kc2 together, and the input ends of the first path integrators are motion rate state variables of the respective channels
And
the output end of the first path integrator is the motion position state variable x of each channel 1 And x 2 The input end of the second path of integrator is the motion rate observation variable of each channel
And
the control channel 1 and the control channel 2 both adopt a feedback control architecture with a state observer, the control channel 1 and the control channel 2 both work independently, one channel is used as a control channel for output drive, the other channel is used as a hot backup channel for forbidding output drive, and when the channels are switched, the hot backup channel adopts state feedback quantity observed by the control channel to form a composite feedback control system for output drive; due to the adoption of the feedback quantity of the state observer during switching, the motion position and the motion speed of the servo mechanism before and after channel switching are effectively maintained, and smooth channel switching is realized.
The control method of the channel switching system based on the state observation composite feedback control comprises the following steps:
first step, t 0 At that time, control channel 1 is operating and control channel 2 is acting as a hot backup. The a phase and the c phase of the switch 1 are turned on, and the b phase and the c phase of the switch 2 are turned on. The output control quantity of the state feedback gain matrix K1 is fed back to the input end of the control channel 1 to form an independent state feedback control system 1 with an observer, and the exhaust valve mechanism is driven to move to an instruction position at a certain speed; the output control quantity of the state feedback gain matrix K2 is fed back to the input end of the control channel 2 to form a band viewThe state of the detector feeds back the control system 2, but the output drive is prohibited;
second step, t 1 (t 1 ＞t 0 ) At this time, the control channel 1 receives the stop control command, and the control channel 2 receives the start control command. The b-phase and c-phase of the switch 1 are turned on, and the a-phase and b-phase of the switch 2 are turned on. The output control quantity of the state feedback gain matrix K1 is fed back to the input end of the control channel 2 to form a composite state feedback control system with an observer, and the exhaust valve mechanism is driven to keep the original speed moving to the command position;
third step, t 2 (t 2 ＞t 1 ) At that moment, the control channel 2 receives a new command position. The a-phase and c-phase of the switch 1 are turned on, and the b-phase and c-phase of the switch 2 are turned on. The output control quantity of the state feedback gain matrix K2 is fed back to the input end of the control channel 2 to form an independent state feedback control system with an observer, and the independent state feedback control system drives the exhaust valve mechanism to move to an instruction position at a certain speed; the output control quantity of the state feedback gain matrix K1 is fed back to the input end of the control channel 1 to form an independent state feedback control system with an observer, but output driving is forbidden;
the fourth step, t 3 (t 3 ＞t 2 ) At this time, the control channel 1 receives the start control command, and the control channel 2 receives the stop control command. The a-phase and the b-phase of the switch 1 are turned on, and the a-phase and the c-phase of the switch 2 are turned on. The output control quantity of the state feedback gain matrix K2 is fed back to the input end of the control channel 1 to form a composite state feedback control system with an observer, and the exhaust valve mechanism is driven to keep the original speed to move to the command position;
fifth step, t 4 (t 4 ＞t 3 ) At that moment, the control channel 1 receives a new command position. The a-phase and c-phase of the switch 1 are turned on, and the b-phase and c-phase of the switch 2 are turned on. The output control quantity of the state feedback gain matrix K1 is fed back to the input end of the control channel 1 to form an independent state feedback control system with an observer, and the independent state feedback control system drives the exhaust valve mechanism to move to an instruction position at a certain speed; the output control amount of the state feedback gain matrix K2 is fed back to the control channel 2An input terminal forming an independent state feedback control system with an observer, but disabling output drive. At this time, the system state and t are controlled 0 The control system state at that time is the same.
The method has the advantages that the feedback quantity of the state observer during switching is adopted, so that the motion position and the motion speed of the servo mechanism before and after channel switching are effectively maintained, smooth channel switching is realized, smooth channel switching of a real-time servo control system can be ensured, the robustness of the control system is improved, the servo mechanism is prevented from being damaged due to stall during channel switching, and the performance of the control system is optimized.
Drawings
Fig. 1 is a configuration diagram of a channel smooth switching method based on state observation composite feedback control.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
A channel switching system based on state observation composite feedback control is constructed, a composite feedback control system with an observer is constructed as shown in figure 1 and comprises a control channel 1 and a control channel 2, the control channel 1 and the control channel 2 respectively comprise a change-over switch 1 and a change-over switch 2, output control quantities of state feedback gain matrixes K1 and K2 are respectively fed back to input ends of the control channel 1 and the control channel 2, the input ends are respectively connected with input matrixes B1 and B2 of respective channels, the input matrixes B1 and B2 are divided into two paths again, the first path and system matrixes A1 and A2 of respective channels jointly enter an integrator, the output of the integrator enters a system matrix again to form a feedback link, and the output of the integrator is connected with output matrixes C1 and C2 of respective channels; the second path and system matrixes A1 and A2 of respective channels and output feedback matrixes Kc1 and Kc2 of respective channels jointly enter an integrator, and the output end of the integrator is a motion position observation variable of the respective channels
And
output end separate feedback system matrix of integratorA1 and A2 form a feedback link, the output end of the integrator is respectively connected to a change-over switch 1 and a change-over switch 2 through state feedback gain matrixes K1 and K2 of respective channels, the output end of the integrator is respectively connected to output matrixes C1 and C2 of respective channels, the output matrixes C1 and C2 of the first path and the second path are commonly fed back to output feedback matrixes Kc1 and Kc2, and the input end of the integrator of the first path is a motion speed state variable of respective channel
And
the output end of the first path integrator is the motion position state variable x of each channel 1 And x 2 The input end of the second path of integrator is the motion rate observation variable of each channel
And
the control channel 1 and the control channel 2 both adopt a feedback control framework with a state observer, the control channel 1 and the control channel 2 both work independently, one channel is used as a control channel for output driving, the other channel is used as a hot backup channel for forbidding output driving, and when the channels are switched, the hot backup channel adopts state feedback quantity observed by the control channel to form a composite feedback control system for output driving. Due to the adoption of the feedback quantity of the state observer during switching, the motion position and the motion speed of the servo mechanism before and after channel switching are effectively maintained, and smooth channel switching is realized.
The invention ensures the smooth switching of the channels by the following steps:
first step, t 0 At that time, control channel 1 is operating and control channel 2 is acting as a hot backup. The a-phase and c-phase of the switch 1 are turned on, and the b-phase and c-phase of the switch 2 are turned on. The output control quantity of the state feedback gain matrix K1 is fed back to the input end of the control channel 1 to form a control device with an observerThe independent state feedback control system 1 drives the exhaust valve mechanism to move to an instruction position at a certain speed; the output control amount of the state feedback gain matrix K2 is fed back to the input of the control channel 2, and the state feedback control system 2 with the observer is constructed, but output drive is prohibited.
Second step, t 1 (t 1 ＞t 0 ) At this time, the control channel 1 receives the stop control command, and the control channel 2 receives the start control command. The b-phase and c-phase of the switch 1 are turned on, and the a-phase and b-phase of the switch 2 are turned on. The output control quantity of the state feedback gain matrix K1 is fed back to the input end of the control channel 2 to form a composite state feedback control system with an observer, and the exhaust valve mechanism is driven to keep the original speed to move to the command position.
Third step, t 2 (t 2 ＞t 1 ) At that moment, the control channel 2 receives a new command position. The a-phase and c-phase of the switch 1 are turned on, and the b-phase and c-phase of the switch 2 are turned on. The output control quantity of the state feedback gain matrix K2 is fed back to the input end of the control channel 2 to form an independent state feedback control system with an observer, and the independent state feedback control system drives the exhaust valve mechanism to move to an instruction position at a certain speed; the output control amount of the state feedback gain matrix K1 is fed back to the input of the control channel 1, constituting an independent state feedback control system with an observer, but output drive is prohibited.
The fourth step, t 3 (t 3 ＞t 2 ) At this time, the control channel 1 receives the start control command, and the control channel 2 receives the stop control command. The a-phase and the b-phase of the switch 1 are turned on, and the a-phase and the c-phase of the switch 2 are turned on. The output control quantity of the state feedback gain matrix K2 is fed back to the input end of the control channel 1 to form a composite state feedback control system with an observer, and the exhaust valve mechanism is driven to keep the original speed to move to the command position.
Fifth step, t 4 (t 4 ＞t 3 ) At that moment, the control channel 1 receives a new command position. The a-phase and c-phase of the switch 1 are turned on, and the b-phase and c-phase of the switch 2 are turned on. The output control quantity of the state feedback gain matrix K1 is fed back to the input end of the control channel 1Forming an independent state feedback control system with an observer, and driving the exhaust valve mechanism to move to a command position at a certain speed; the output control amount of the state feedback gain matrix K2 is fed back to the input of the control channel 2, constituting an independent state feedback control system with an observer, but output drive is prohibited. At this time, the system state and t are controlled 0 The control system state at the moment is the same.
Claims (2)
1. A channel switching system based on state observation composite feedback control is characterized in that:
the channel switching system based on the state observation composite feedback control comprises a control channel 1 and a control channel 2, wherein the control channel 1 and the control channel 2 respectively comprise a selector switch 1 and a selector switch 2, output control quantities of state feedback gain matrixes K1 and K2 are respectively fed back to input ends of the control channel 1 and the control channel 2, the input ends of the state feedback gain matrixes are respectively connected with input matrixes B1 and B2 of the respective channels, the input matrixes B1 and B2 are divided into two paths again, the first path and system matrixes A1 and A2 of the respective channels jointly enter an integrator, the output of the integrator enters the system matrixes again to form a feedback link, and the output of the integrator is connected with output matrixes C1 and C2 of the respective channels; the second path and system matrixes A1 and A2 of respective channels and output feedback matrixes Kc1 and Kc2 of respective channels jointly enter an integrator, and the output end of the integrator is a motion position observation variable of the respective channels
And
the output ends of the integrators are respectively fed back to system matrixes A1 and A2 to form a feedback link, the output ends of the integrators are respectively connected to a change-over switch 1 and a change-over switch 2 through state feedback gain matrixes K1 and K2 of respective channels, the output ends of the integrators are respectively connected to output matrixes C1 and C2 of the respective channels, the output matrixes C1 and C2 of the first path and the second path are fed back to output feedback matrixes Kc1 and Kc2 together, and the input ends of the first path of the integrators are the movement speeds of the respective channelsRate state variable
And
the output end of the first path integrator is the motion position state variable x of each channel 1 And x 2 The input end of the second path of integrator is the motion rate observation variable of each channel
And
the control channel 1 and the control channel 2 both adopt a feedback control framework with a state observer, the control channel 1 and the control channel 2 both work independently, one channel is used as a control channel for output driving, the other channel is used as a hot backup channel for forbidding output driving, and when the channels are switched, the hot backup channel adopts state feedback quantity observed by the control channel to form a composite feedback control system for output driving; due to the adoption of the feedback quantity of the state observer during switching, the motion position and the motion speed of the servo mechanism before and after channel switching are effectively maintained, and smooth channel switching is realized.
2. A control method of a channel switching system based on a state observation composite feedback control according to claim 1, characterized by comprising the steps of:
first step, t 0 At the moment, the control channel 1 works, the control channel 2 is used as a hot backup, the phase a and the phase c of the change-over switch 1 are conducted, the phase b and the phase c of the change-over switch 2 are conducted, the output control quantity of the state feedback gain matrix K1 is fed back to the input end of the control channel 1 to form an independent state feedback control system 1 with an observer, and the exhaust valve mechanism is driven to move to an instruction position at a certain speed; the output control quantity of the state feedback gain matrix K2 is fed back to the input end of the control channel 2 to formA state feedback control system 2 with an observer, but output drive is disabled;
second step, t 1 (t 1 ＞t 0 ) At the moment, the control channel 1 receives a stop control command, the control channel 2 receives a start control command, the phase b and the phase c of the change-over switch 1 are conducted, the phase a and the phase b of the change-over switch 2 are conducted, and the output control quantity of the state feedback gain matrix K1 is fed back to the input end of the control channel 2 to form a composite state feedback control system with an observer, so that the exhaust valve mechanism is driven to keep the original speed to move to the command position;
third step, t 2 (t 2 ＞t 1 ) At the moment, the control channel 2 receives a new command position, the phase a and the phase c of the change-over switch 1 are conducted, the phase b and the phase c of the change-over switch 2 are conducted, the output control quantity of the state feedback gain matrix K2 is fed back to the input end of the control channel 2 to form an independent state feedback control system with an observer, and the exhaust valve mechanism is driven to move to the command position at a certain speed; the output control quantity of the state feedback gain matrix K1 is fed back to the input end of the control channel 1 to form an independent state feedback control system with an observer, but output driving is forbidden;
fourth step, t 3 (t 3 ＞t 2 ) At the moment, the control channel 1 receives a starting control command, the control channel 2 receives a stopping control command, the phase a and the phase b of the change-over switch 1 are conducted, the phase a and the phase c of the change-over switch 2 are conducted, and the output control quantity of the state feedback gain matrix K2 is fed back to the input end of the control channel 1 to form a composite state feedback control system with an observer, so that the exhaust valve mechanism is driven to keep the original speed to move to the command position;
fifth step, t 4 (t 4 ＞t 3 ) At the moment, the control channel 1 receives a new command position, the phase a and the phase c of the change-over switch 1 are conducted, the phase b and the phase c of the change-over switch 2 are conducted, and the output control quantity of the state feedback gain matrix K1 is fed back to the input end of the control channel 1 to form an independent state feedback control system with an observer, so that the exhaust valve mechanism is driven to move to the command position at a certain speed; the output control quantity of the state feedback gain matrix K2 is fed back to the input of the control channel 2The input end forms an independent state feedback control system with an observer, but output driving is forbidden, and the state and t of the control system are controlled at the moment 0 The control system state at the moment is the same.
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