CN114384804B - Method for counteracting zero influence of transfer function of closed-loop system when tracking instruction is zero - Google Patents
Method for counteracting zero influence of transfer function of closed-loop system when tracking instruction is zero Download PDFInfo
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Abstract
Description
技术领域Technical field
本发明涉及自动控制技术领域，更具体地，涉及一种一种当跟踪指令为零时抵消闭环系统传递函数零点影响的方法。The present invention relates to the technical field of automatic control, and more specifically, to a method for offsetting the influence of the zero point of a closed-loop system transfer function when the tracking instruction is zero.
背景技术Background technique
自动控制系统设计中，通常希望从跟踪指令到控制对象输出的闭环系统传递函数为不含有限零点的典型二阶环节。当以闭环反馈的形式引入控制器后，闭环系统传递函数通常具有与控制参数相关的有限零点，系统的瞬态性能会受到有限零点位置的影响。In the design of automatic control systems, it is usually expected that the closed-loop system transfer function from the tracking instruction to the output of the control object is a typical second-order link without finite zeros. When the controller is introduced in the form of closed-loop feedback, the closed-loop system transfer function usually has finite zeros related to the control parameters, and the transient performance of the system will be affected by the position of the finite zeros.
实际工程设计中，通常在控制指令进入闭环控制系统之前串联前置滤波器，用前置滤波器的极点抵消原来闭环系统传递函数所不希望存在的有限零点。In actual engineering design, a pre-filter is usually connected in series before the control command enters the closed-loop control system, and the poles of the pre-filter are used to offset the undesired finite zeros of the original closed-loop system transfer function.
对于期望输出为零的自动控制系统，跟踪指令为零，上述方法中前置滤波器的输出也为零，从而失去了调节闭环传递函数的能力，无法抵消闭环系统传递函数所不希望存在的有限零点。For an automatic control system with an expected output of zero, the tracking command is zero, and the output of the pre-filter in the above method is also zero, thus losing the ability to adjust the closed-loop transfer function and unable to offset the undesirable limitations of the closed-loop system transfer function. zero point.
关于跟踪指令为零时如何抵消闭环系统传递函数的有限零点方面，目前未见相关文献记载。There is no relevant literature record on how to offset the finite zero point of the transfer function of the closed-loop system when the tracking instruction is zero.
发明内容Contents of the invention
针对现有技术存在的问题，本发明的目的是提供一种当跟踪指令为零时抵消闭环系统传递函数零点影响的方法。本发明能够解决跟踪指令为零时，用于抵消闭环系统传递函数所不希望存在的有限零点的前置滤波器由于输出值为零，无法起作用的问题。In view of the problems existing in the prior art, the purpose of the present invention is to provide a method for offsetting the influence of the zero point of the closed-loop system transfer function when the tracking instruction is zero. The invention can solve the problem that when the tracking command is zero, the pre-filter used to offset the undesired finite zero points of the closed-loop system transfer function cannot function because the output value is zero.
为实现上述技术目的，本发明提出的技术方案为：In order to achieve the above technical objectives, the technical solutions proposed by the present invention are:
一方面，本发明提供一种当跟踪指令为零时抵消闭环系统传递函数零点影响的方法，包括：On the one hand, the present invention provides a method for offsetting the influence of the zero point of the transfer function of a closed-loop system when the tracking instruction is zero, including:
控制器与控制对象按照负反馈的方式形成闭环系统，获得等效的实际闭环系统传递函数，比较实际闭环系统传递函数的分子与期望闭环系统传递函数的分子，确定实际闭环系统传递函数分子上待抵消的多项式；The controller and the control object form a closed-loop system in a negative feedback manner, obtain an equivalent actual closed-loop system transfer function, compare the numerator of the actual closed-loop system transfer function with the numerator of the expected closed-loop system transfer function, and determine the numerator of the actual closed-loop system transfer function. canceling polynomials;
生成跟踪指令，所述跟踪指令为零信号；Generate a trace instruction, the trace instruction being a zero signal;
生成跟踪指令修正信号，所述跟踪指令修正信号为常值信号；Generate a tracking instruction correction signal, where the tracking instruction correction signal is a constant value signal;
生成反馈信号修正信号，所述反馈信号修正信号为常值信号；Generate a feedback signal correction signal, where the feedback signal correction signal is a constant value signal;
将零信号经跟踪指令修正信号修正后作为前置滤波器的输入信号，所述前置滤波器的等效传递函数的分母能够抵消实际闭环系统传递函数分子上待抵消的多项式，使修正后的闭环系统传递函数的分子为期望闭环系统传递函数的分子，不存在有限零点；The zero signal is corrected by the tracking instruction correction signal and used as the input signal of the pre-filter. The denominator of the equivalent transfer function of the pre-filter can offset the polynomial to be offset on the numerator of the actual closed-loop system transfer function, so that the corrected The numerator of the transfer function of the closed-loop system is the molecule of the transfer function of the expected closed-loop system, and there are no finite zero points;
将前置滤波器的输出信号减去修正后的反馈信号作为控制器的输入信号；Subtract the corrected feedback signal from the output signal of the pre-filter as the input signal of the controller;
控制器的输出信号作为控制对象的输入信号，控制对象输出反馈信号；The output signal of the controller serves as the input signal of the control object, and the control object outputs a feedback signal;
所述反馈信号经反馈信号修正信号修正后即为修正后的反馈信号。The feedback signal modified by the feedback signal correction signal is the modified feedback signal.
进一步地，本发明所述跟踪指令修正信号的信号大小等于控制器运行初始时刻的控制对象的输出值。Furthermore, the signal size of the tracking instruction correction signal of the present invention is equal to the output value of the control object at the initial moment of controller operation.
进一步地，本发明所述反馈信号修正信号的信号大小等于控制器运行初始时刻的控制对象的输出值。Further, the signal size of the feedback signal correction signal of the present invention is equal to the output value of the control object at the initial moment of controller operation.
进一步地，本发明所述跟踪指令修正信号的信号大小等于所述反馈信号修正信号的信号大小。Furthermore, the signal size of the tracking instruction correction signal of the present invention is equal to the signal size of the feedback signal correction signal.
进一步地，本发明中，跟踪指令减去跟踪指令修正信号作为前置滤波器的输入信号。Further, in the present invention, the tracking command minus the tracking command correction signal is used as the input signal of the pre-filter.
进一步地，本发明中，反馈信号减去反馈信号修正信号作为修正后的反馈信号。Further, in the present invention, the feedback signal minus the feedback signal correction signal is obtained as the corrected feedback signal.
另一方面，本发明提供一种当跟踪指令为零时抵消闭环系统传递函数零点影响的装置，包括：On the other hand, the present invention provides a device for offsetting the influence of the zero point of the transfer function of the closed-loop system when the tracking instruction is zero, including:
跟踪指令产生模块，用于生成跟踪指令，所述跟踪指令为零信号；A tracking instruction generation module is used to generate a tracking instruction, where the tracking instruction is a zero signal;
跟踪指令修正器，用于生成跟踪指令修正信号，所述跟踪指令修正信号为常值信号；A tracking instruction corrector, used to generate a tracking instruction correction signal, where the tracking instruction correction signal is a constant value signal;
前置滤波器输入信号产生模块，用于将跟踪指令减去跟踪指令修正信号作为前置滤波器的输入信号；The pre-filter input signal generation module is used to subtract the tracking instruction correction signal from the tracking instruction as the input signal of the pre-filter;
前置滤波器，所述前置滤波器的等效传递函数的分母能够抵消实际闭环系统传递函数分子上待抵消的多项式，使修正后的闭环系统传递函数的分子为期望闭环系统传递函数的分子，不存在有限零点；Pre-filter, the denominator of the equivalent transfer function of the pre-filter can offset the polynomial to be canceled on the numerator of the actual closed-loop system transfer function, so that the numerator of the modified closed-loop system transfer function is the numerator of the expected closed-loop system transfer function , there is no finite zero point;
控制器与控制对象按照负反馈的方式形成闭环系统，获得等效的实际闭环系统传递函数，通过比较实际闭环系统传递函数的分子与期望闭环系统传递函数的分子，确定实际闭环系统传递函数分子上待抵消的多项式；The controller and the control object form a closed-loop system in a negative feedback manner to obtain an equivalent actual closed-loop system transfer function. By comparing the numerator of the actual closed-loop system transfer function with the numerator of the expected closed-loop system transfer function, the numerator of the actual closed-loop system transfer function is determined. polynomials to be canceled;
反馈信号修正器，用于生成反馈信号修正信号，所述反馈信号修正信号为常值信号；a feedback signal corrector, used to generate a feedback signal correction signal, where the feedback signal correction signal is a constant value signal;
修正后的反馈信号产生模块，用于将反馈信号减去反馈信号修正信号，得到修正后的反馈信号；The corrected feedback signal generation module is used to subtract the feedback signal correction signal from the feedback signal to obtain the corrected feedback signal;
控制器输入信号产生模块，用于将前置滤波器的输出信号减去修正后的反馈信号作为控制器的输入信号。The controller input signal generation module is used to subtract the modified feedback signal from the output signal of the pre-filter as the input signal of the controller.
与现有技术相比，本发明的优点在于：Compared with the prior art, the advantages of the present invention are:
通过本发明提供的上述技术方案，在跟踪指令为零时，用于抵消闭环系统传递函数所不希望存在的有限零点的前置滤波器仍能正常起作用。Through the above technical solution provided by the present invention, when the tracking command is zero, the pre-filter used to offset the undesired finite zero points of the closed-loop system transfer function can still function normally.
附图说明Description of the drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without exerting creative efforts.
图1为本发明一实施例的结构示意图；Figure 1 is a schematic structural diagram of an embodiment of the present invention;
图2为本发明另一实施例的结构示意图。Figure 2 is a schematic structural diagram of another embodiment of the present invention.
具体实施方式Detailed ways
为使本发明实施例的目的、技术方案和优点更加清楚明白，下面将以附图及详细叙述清楚说明本发明所揭示内容的精神，任何所属技术领域技术人员在了解本发明内容的实施例后，当可由本发明内容所教示的技术，加以改变及修饰，其并不脱离本发明内容的精神与范围。本发明的示意性实施例及其说明用于解释本发明，但并不作为对本发明的限定。In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the following will clearly illustrate the spirit of the disclosure of the present invention with the accompanying drawings and detailed description. Any person skilled in the art will understand the embodiments of the present invention. , when the technology taught by the present invention can be changed and modified without departing from the spirit and scope of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not used to limit the present invention.
本发明一实施例中，提供一种当跟踪指令为零时抵消闭环系统传递函数零点影响的方法，包括：In one embodiment of the present invention, a method for offsetting the influence of the zero point of the closed-loop system transfer function when the tracking instruction is zero is provided, including:
控制器与控制对象按照负反馈的方式形成闭环系统，获得等效的实际闭环系统传递函数，比较实际闭环系统传递函数的分子与期望闭环系统传递函数的分子，确定实际闭环系统传递函数分子上待抵消的多项式；The controller and the control object form a closed-loop system in a negative feedback manner, obtain an equivalent actual closed-loop system transfer function, compare the numerator of the actual closed-loop system transfer function with the numerator of the expected closed-loop system transfer function, and determine the numerator of the actual closed-loop system transfer function. canceling polynomials;
生成跟踪指令，所述跟踪指令为零信号；Generate a trace instruction, the trace instruction being a zero signal;
生成跟踪指令修正信号，所述跟踪指令修正信号为常值信号；Generate a tracking instruction correction signal, where the tracking instruction correction signal is a constant value signal;
生成反馈信号修正信号，所述反馈信号修正信号为常值信号；Generate a feedback signal correction signal, where the feedback signal correction signal is a constant value signal;
将零信号经跟踪指令修正信号修正后作为前置滤波器的输入信号，所述前置滤波器的等效传递函数的分母能够抵消实际闭环系统传递函数分子上待抵消的多项式，使修正后的闭环系统传递函数的分子为期望闭环系统传递函数的分子，不存在有限零点；The zero signal is corrected by the tracking instruction correction signal and used as the input signal of the pre-filter. The denominator of the equivalent transfer function of the pre-filter can offset the polynomial to be offset on the numerator of the actual closed-loop system transfer function, so that the corrected The numerator of the transfer function of the closed-loop system is the molecule of the transfer function of the expected closed-loop system, and there are no finite zero points;
将前置滤波器的输出信号减去修正后的反馈信号作为控制器的输入信号；Subtract the corrected feedback signal from the output signal of the pre-filter as the input signal of the controller;
控制器的输出信号作为控制对象的输入信号，控制对象输出反馈信号；The output signal of the controller serves as the input signal of the control object, and the control object outputs a feedback signal;
所述反馈信号经反馈信号修正信号修正后即为修正后的反馈信号。The feedback signal modified by the feedback signal correction signal is the modified feedback signal.
参照图1，在一实施例中，提供一种当跟踪指令为零时抵消闭环系统传递函数零点影响的装置，包括：Referring to Figure 1, in one embodiment, a device for offsetting the influence of the zero point of the closed-loop system transfer function when the tracking instruction is zero is provided, including:
跟踪指令产生模块6，用于生成跟踪指令，所述跟踪指令为零信号；The tracking instruction generation module 6 is used to generate a tracking instruction, and the tracking instruction is a zero signal;
跟踪指令修正器5，用于生成跟踪指令修正信号，所述跟踪指令修正信号为常值信号；The tracking instruction corrector 5 is used to generate a tracking instruction correction signal, where the tracking instruction correction signal is a constant value signal;
前置滤波器输入信号产生模块7，用于将跟踪指令减去跟踪指令修正信号作为前置滤波器的输入信号；The pre-filter input signal generation module 7 is used to subtract the tracking instruction correction signal from the tracking instruction as the input signal of the pre-filter;
前置滤波器1，所述前置滤波器的等效传递函数的分母能够抵消实际闭环系统传递函数分子上待抵消的多项式，使修正后的闭环系统传递函数的分子为期望闭环系统传递函数的分子，不存在有限零点；Pre-filter 1, the denominator of the equivalent transfer function of the pre-filter can offset the polynomial to be offset on the numerator of the actual closed-loop system transfer function, so that the numerator of the modified closed-loop system transfer function is the desired closed-loop system transfer function In molecules, there are no finite zero points;
控制器2与控制对象3按照负反馈的方式形成闭环系统，获得等效的实际闭环系统传递函数，通过比较实际闭环系统传递函数的分子与期望闭环系统传递函数的分子，确定实际闭环系统传递函数分子上待抵消的多项式；Controller 2 and control object 3 form a closed-loop system in a negative feedback manner to obtain an equivalent actual closed-loop system transfer function. By comparing the numerator of the actual closed-loop system transfer function with the numerator of the expected closed-loop system transfer function, the actual closed-loop system transfer function is determined. The polynomial to be canceled in the numerator;
反馈信号修正器4，用于生成反馈信号修正信号，所述反馈信号修正信号为常值信号；Feedback signal corrector 4 is used to generate a feedback signal correction signal, where the feedback signal correction signal is a constant value signal;
修正后的反馈信号产生模块9，用于将反馈信号减去反馈信号修正信号，得到修正后的反馈信号；The corrected feedback signal generation module 9 is used to subtract the feedback signal correction signal from the feedback signal to obtain a corrected feedback signal;
控制器输入信号产生模块8，用于将前置滤波器的输出信号减去修正后的反馈信号作为控制器的输入信号。The controller input signal generation module 8 is used to subtract the modified feedback signal from the output signal of the pre-filter as the input signal of the controller.
参照图2，在一实施例中，提供一种当跟踪指令为零时抵消闭环系统传递函数零点影响的方法。本实施例为采用比例微分控制器、控制对象为二阶积分环节的闭环控制系统。Referring to FIG. 2 , in one embodiment, a method for canceling the influence of the zero point of the closed-loop system transfer function when the tracking instruction is zero is provided. This embodiment is a closed-loop control system using a proportional differential controller and the control object is a second-order integral link.
在实施例中，控制对象3的等效传递函数为且在控制器2运行的初始时刻，控制对象3的输出值为1。闭环控制系统设计目标是使控制对象3按照期望的瞬态响应从1变为0，然后保持为0。In the embodiment, the equivalent transfer function of control object 3 is And at the initial moment when controller 2 is running, the output value of control object 3 is 1. The design goal of the closed-loop control system is to make the control object 3 change from 1 to 0 according to the desired transient response, and then remain at 0.
控制器2采用比例微分控制器，采用比例微分控制器来控制上述控制对象3，控制器的等效传递函数的分子，在本案例中取为4s+8，控制器2的等效传递函数为 Controller 2 uses a proportional differential controller to control the above-mentioned control object 3. The numerator of the equivalent transfer function of the controller is taken as 4s+8 in this case. The equivalent transfer function of controller 2 is
控制器2与控制对象3按照负反馈的方式形成闭环控制系统之后，闭环系统传递函数的分子为4s+8。但是，期望的闭环系统传递函数分子为8。将前置滤波器传递函数的分母12取为4s+8，前置滤波器传递函数的分子11取为8，使得前置滤波器的稳态增益为1，即前置滤波器1的传递函数设置为用前置滤波器传递函数的分母12抵消原来闭环控制系统传递函数分子上的多项式4s+8。After controller 2 and control object 3 form a closed-loop control system in a negative feedback manner, the numerator of the transfer function of the closed-loop system is 4s+8. However, the desired numerator of the transfer function for a closed-loop system is 8. Take the denominator 12 of the pre-filter transfer function as 4s+8, and take the numerator 11 of the pre-filter transfer function as 8, so that the steady-state gain of the pre-filter is 1, which is the transfer function of pre-filter 1 Set as Use the denominator 12 of the pre-filter transfer function to offset the polynomial 4s+8 on the numerator of the original closed-loop control system transfer function.
为了使跟踪指令为零时前置滤波器仍能起作用，采用跟踪指令修正器5将跟踪指令修正为1。设定跟踪指令修正器5的输出的跟踪指令修正信号为常值，跟踪指令修正信号的大小与控制器运行初始时刻控制对象的输出值相等，在本案例中为1。跟踪指令为零时，前置滤波器1的输入为：零信号减去跟踪指令修正器输出的跟踪指令修正信号，即0-1，恒为-1。In order to make the pre-filter still function when the tracking command is zero, the tracking command corrector 5 is used to correct the tracking command to 1. The tracking command correction signal output by the tracking command corrector 5 is set to a constant value. The size of the tracking command correction signal is equal to the output value of the control object at the initial moment of controller operation, which is 1 in this case. When the tracking command is zero, the input of pre-filter 1 is: the zero signal minus the tracking command correction signal output by the tracking command corrector, that is, 0-1, which is always -1.
为了纠正跟踪指令修正器带来的偏差，将反馈信号修正器4的输出的反馈信号修正信号设定为常值，其大小同样等于控制器运行初始时刻控制对象的输出值，在本案例中为1。控制对象3的输出信号减去将反馈信号修正器输出的反馈信号修正信号得到修正后的反馈信号。In order to correct the deviation caused by the tracking command corrector, the feedback signal correction signal output by the feedback signal corrector 4 is set to a constant value, whose size is also equal to the output value of the control object at the initial moment of the controller operation, in this case 1. The output signal of the control object 3 is subtracted from the feedback signal correction signal output by the feedback signal corrector to obtain a corrected feedback signal.
控制器2的输入为：前置滤波器1的输出减去修正后的反馈信号。The input of controller 2 is: the output of pre-filter 1 minus the modified feedback signal.
按照上述设置，修正后的闭环控制系统等效传递函数的分子为8，不再存在有限零点，且当跟踪指令为零时同样成立。According to the above settings, the numerator of the equivalent transfer function of the modified closed-loop control system is 8, there is no finite zero point anymore, and the same is true when the tracking instruction is zero.
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above embodiments can be combined in any way. To simplify the description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, all possible combinations should be used. It is considered to be within the scope of this manual.
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。The above-described embodiments only express several implementation modes of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all fall within the protection scope of the present application. Therefore, the protection scope of this patent application should be determined by the appended claims.
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