CN116301081B - Speed control method, device, equipment and medium of inertia test equipment - Google Patents

Abstract

The present invention provides a rate control method, device, equipment and medium of inertial testing equipment, and relates to the technical field of automatic control. The method includes: acquiring a target angular velocity change curve; obtaining a feedforward control amount of a voltage control module according to the target angular velocity change curve; The actual error is obtained according to the target angular velocity change curve and the actual angular velocity signal, and the nonlinear proportional control is performed on the actual error to obtain the nonlinear proportional control amount; the actual control voltage and the actual angular velocity signal are input into the preset reduced-order state observer to obtain the observed Disturbance; Obtain the disturbance compensation control quantity based on the observed disturbance; input the feedforward control quantity, nonlinear proportional control quantity and disturbance compensation control quantity into the voltage control module to obtain the target control voltage; trigger the angular velocity drive module according to the target control voltage, torque coefficient and Observe the disturbance to control the angular velocity. It can solve the problem that the control accuracy of the active disturbance rejection control algorithm is difficult to meet the requirements of the inertial test equipment.

Description

A rate control method, device, equipment and medium for inertial test equipment

Technical Field

The present invention relates to the field of automatic control technology, and in particular to a rate control method, device, equipment and medium for inertial testing equipment.

Background Art

Inertial technology is an important measurement technology that senses the angular motion and linear motion of a moving body in inertial space, and then obtains information such as the posture, speed and position of the moving body. It plays a very important role in the fields of aviation, navigation, military, etc. Inertial test equipment is a key equipment used in the entire process of inertial product design, development, manufacturing, testing and use. The accuracy of inertial test equipment needs to be higher than that of inertial products. In addition to improving hardware performance, the method of improving the accuracy of inertial test equipment also requires the design of appropriate and advanced control methods to fully achieve the ultimate accuracy supported by the hardware equipment.

In high-precision inertial equipment applications, it is often necessary to achieve accurate and fast rate control. Traditional linear control methods represented by PID control algorithms are difficult to simultaneously meet the requirements of high-precision and high-dynamic speed control. The Active Disturbance Rejection Control (ADRC) algorithm proposed later solves the contradiction between rapidity and overshoot in traditional PID control. However, there are still some problems with ADRC. The control accuracy of the ADRC algorithm is difficult to meet the requirements of some inertial test equipment, and when the reference signal changes rapidly, the torque coefficient will have a greater impact on the speed control accuracy.

Summary of the invention

In view of this, the present invention provides a rate control method, device, equipment and medium for inertial testing equipment, which at least partially solves the problem that the control accuracy of the self-disturbance rejection control algorithm in the prior art is difficult to meet the requirements of some inertial testing equipment, and when the reference signal changes rapidly, the torque coefficient will have a significant impact on the control accuracy of the rotational speed.

In a first aspect, the present application provides a rate control method for an inertial testing device, the method comprising:

Obtain target angular velocity change curve;

Obtaining a feedforward control amount of a voltage control module according to the target angular velocity variation curve, wherein the voltage control module is used to output a target control voltage to control an angular velocity driving module to control the angular velocity;

Acquiring an actual control voltage inputted by the angular velocity driving module and an actual angular velocity signal outputted by the angular velocity driving module;

Obtaining an actual error according to the target angular velocity variation curve and the actual angular velocity signal, and performing nonlinear proportional control on the actual error to obtain a nonlinear proportional control amount;

Inputting the actual control voltage and the actual angular velocity signal into a preset reduced-order state observer to obtain an observed disturbance;

Obtaining a disturbance compensation control amount based on the observed disturbance;

Inputting the feedforward control amount, the nonlinear proportional control amount and the disturbance compensation control amount into the voltage control module to obtain the target control voltage;

The angular velocity driving module is triggered to control the angular velocity according to the target control voltage, the torque coefficient and the actual disturbance, wherein the torque coefficient is obtained by identification and estimation according to a preset identification algorithm.

Optionally, obtaining a feedforward control amount of a voltage control module according to the target angular velocity variation curve includes:

Performing nonlinear filtering on the target angular velocity variation curve, and obtaining a differential signal of the target angular velocity variation curve after the nonlinear filtering;

The feedforward control amount is determined based on the following formula:

Among them, the is the feedforward control quantity, is the moment coefficient, the is the differential signal, the is the first adjustable parameter, and J is the moment of inertia.

Optionally, obtaining the actual control voltage input to the angular velocity driving module and the actual angular velocity signal output therefrom includes:

The rotation angle position signal obtained by the position sensor is obtained, and the actual angular velocity signal is obtained by performing differential calculation on the rotation angle position signal.

Optionally, inputting the actual control voltage and the actual angular velocity signal into a preset reduced-order state observer to obtain an observed disturbance includes:

The preset reduced-order state observer is established according to the following formula:

Among them, the is the second adjustable parameter, is the third adjustable parameter, is the fourth adjustable parameter, is the fifth adjustable parameter, h is the sampling interval, is the difference between the observed angular velocity signal and the actual angular velocity signal, is the speed variable output by the reduced-order state observer, is the actual angular velocity signal, is the observed disturbance, Sat is the saturation function, is the preset disturbance observation limit, The function is symmetric about the center of the positive semi-axis. The power function has the following formula:

.

Optionally, obtaining an actual error according to the target angular velocity change curve and the actual angular velocity signal, and performing nonlinear proportional control on the actual error to obtain a nonlinear proportional control amount includes:

The nonlinear proportional control amount is determined according to the following formula:

Among them, the is the nonlinear proportional control quantity, is the sixth adjustable parameter, The seventh adjustable parameter is It is the target angular velocity change curve after nonlinear filtering.

Optionally, obtaining a disturbance compensation control amount based on the observed disturbance includes:

Among them, the is the disturbance compensation control quantity.

Optionally, the angular velocity driving module controls the angular velocity according to the target control voltage, the torque coefficient and the actual disturbance, including:

The angular velocity is controlled according to the following formula:

Among them, the is the angular velocity after control, is the target control voltage, the is the actual disturbance.

In a second aspect, the present application provides a rate control device for an inertial testing device, the device comprising:

A first acquisition module is used to acquire a target angular velocity variation curve;

A feedforward control amount determination module, used for obtaining a feedforward control amount of a voltage control module according to the target angular velocity variation curve, wherein the voltage control module is used for outputting a target control voltage to control the angular velocity driving module to control the angular velocity;

A second acquisition module is used to acquire an actual control voltage input and an actual angular velocity signal output by the angular velocity driving module;

a nonlinear proportional control amount determination module, configured to obtain an actual error according to the target angular velocity variation curve and the actual angular velocity signal, and perform nonlinear proportional control on the actual error to obtain a nonlinear proportional control amount;

An observed disturbance determination module, used for inputting the actual control voltage and the actual angular velocity signal into a preset reduced-order state observer to obtain an observed disturbance;

A disturbance compensation control amount determination module, used to obtain a disturbance compensation control amount based on the observed disturbance;

a target control voltage determination module, used for inputting the feedforward control amount, the nonlinear proportional control amount and the disturbance compensation control amount into the voltage control module to obtain the target control voltage;

The angular velocity control module is used to trigger the angular velocity driving module to control the angular velocity according to the target control voltage, the torque coefficient and the actual disturbance, wherein the torque coefficient is obtained by identification and estimation according to a preset identification algorithm.

In a third aspect, the present application provides a rate control device for an inertial test device, comprising: at least one processor and at least one memory;

The memory stores program codes, and when the program codes are executed by the processor, the processor performs the following process:

Obtain target angular velocity change curve;

Obtaining a feedforward control amount of a voltage control module according to the target angular velocity variation curve, wherein the voltage control module is used to output a target control voltage to control an angular velocity driving module to control the angular velocity;

Acquiring an actual control voltage inputted by the angular velocity driving module and an actual angular velocity signal outputted by the angular velocity driving module;

Obtaining an actual error according to the target angular velocity variation curve and the actual angular velocity signal, and performing nonlinear proportional control on the actual error to obtain a nonlinear proportional control amount;

Inputting the actual control voltage and the actual angular velocity signal into a preset reduced-order state observer to obtain an observed disturbance;

Obtaining a disturbance compensation control amount based on the observed disturbance;

Inputting the feedforward control amount, the nonlinear proportional control amount and the disturbance compensation control amount into the voltage control module to obtain the target control voltage;

The angular velocity driving module is triggered to control the angular velocity according to the target control voltage, the torque coefficient and the observed disturbance, wherein the torque coefficient is obtained by identification and estimation according to a preset identification algorithm.

In a fourth aspect, the present application further provides a computer storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any one of the rate control methods for inertial testing equipment described in the first aspect.

In a fifth aspect, the present application further provides a computer program product, including a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by an electronic device, the electronic device executes any one of the above-mentioned rate control methods for inertial testing equipment.

In addition, the technical effects brought about by any implementation method in the second to fifth aspects can refer to the technical effects brought about by different implementation methods in the first aspect, and will not be repeated here.

The rate control method, device, equipment and medium of an inertial test device provided by the present invention have the following beneficial effects:

The present application provides a rate control method, device, equipment and medium for inertial test equipment. By performing feedforward control on the target angular velocity change curve, the dynamic response of the voltage control module and the angular velocity drive module can be greatly improved, and the accuracy of angular velocity control can be improved. The extended state observer in the traditional active disturbance rejection control is reduced in order and optimized, thereby improving the disturbance suppression capability. Since the torque coefficient will have a great influence on the control accuracy of the rotation speed when the target angular velocity changes rapidly, the present application designs an identification method to estimate the torque coefficient in real time to further improve the control accuracy.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

FIG1 is a schematic diagram of a rate control method for an inertial testing device provided in an embodiment of the present application;

Figure 2 is a schematic diagram of a single-axis speed servo system model provided in an embodiment of the present application;

FIG3 is a schematic diagram of a rate control method for an inertial testing device provided in an embodiment of the present application;

FIG4 is a schematic diagram of a reference signal after nonlinear filtering provided in an embodiment of the present application;

FIG5 is a schematic diagram of an identification curve of a torque coefficient provided in an embodiment of the present application;

FIG6 is a schematic diagram of a disturbance observation value change provided in an embodiment of the present application;

FIG7 is a schematic diagram of a speed control variation provided by an embodiment of the present application;

Figure 8 is a schematic diagram of a speed control error provided in an embodiment of the present application;

FIG9 is a schematic diagram of a rate control device of an inertial testing device provided in an embodiment of the present application;

FIG. 10 is a schematic diagram of a rate control device of an inertial testing device provided in an embodiment of the present application.

DETAILED DESCRIPTION

The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

It should be noted that the following embodiments and features in the embodiments may be combined with each other in the absence of conflict; and, based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making any creative work are within the scope of protection of the present disclosure.

It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and/or function described herein is merely illustrative. Based on the present disclosure, it should be understood by those skilled in the art that an aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement the device and/or practice the method. In addition, other structures and/or functionalities other than one or more of the aspects described herein may be used to implement this device and/or practice this method.

Inertial technology is an important measurement technology that senses the angular motion and linear motion of a moving body in inertial space, and then obtains information such as the posture, speed and position of the moving body. It plays a very important role in the fields of aviation, navigation, military, etc. Inertial test equipment is a key equipment used in the entire process of inertial product design, development, manufacturing, testing and use. The accuracy of inertial test equipment needs to be higher than that of inertial products. In addition to improving hardware performance, the method of improving the accuracy of inertial test equipment also requires the design of appropriate and advanced control methods to fully achieve the ultimate accuracy supported by the hardware equipment.

In the application of high-precision inertial equipment, it is often necessary to achieve accurate and fast rate control. Traditional linear control methods represented by PID control algorithms are difficult to simultaneously meet the requirements of high-precision and high-dynamic speed control. The Active Disturbance Rejection Control (ADRC) algorithm proposed later solves the contradiction between rapidity and overshoot in traditional PID control. However, there are still some problems with ADRC. The control accuracy of the ADRC algorithm is difficult to meet the requirements of some inertial test equipment, and when the reference signal changes rapidly, the torque coefficient will have a greater impact on the speed control accuracy.

Based on this, the present application provides a rate control method for inertial test equipment, which improves the self-disturbance rejection control method. For the rate control of high-precision inertial test equipment, with the application of high-precision grating sensors, the extended state observer in the original self-disturbance rejection control method can be simplified to improve the tracking speed of disturbances; the original transition process arrangement for position is changed to a transition process arrangement for speed; in order to improve the tracking performance of a given speed curve, a feedforward link is designed to improve the tracking speed; although the self-disturbance rejection control has a certain robustness to the system parameters, when the reference signal changes rapidly, the torque coefficient will still have a greater impact on the control accuracy of the speed. To address this problem, an identification method is designed to estimate the torque coefficient in real time.

As shown in FIG1 , a rate control method for an inertial test device provided by the present application includes:

Step S101, obtaining a target angular velocity variation curve;

It should be noted that the present application proposes a rate control method for inertial testing equipment, which can be used for, but is not limited to, a rate control method for high-precision inertial testing equipment. It is necessary to control the angular velocity of the high-precision inertial testing equipment according to a pre-given reference signal, so that the angular velocity of the high-precision inertial testing equipment can be changed according to the pre-given reference signal. The pre-given reference signal here is also the target angular velocity change curve. The target angular velocity change curve is given by those skilled in the art, and the specific change process is also controlled by those skilled in the art, which is not limited here.

Step S102, obtaining a feedforward control amount of a voltage control module according to the target angular velocity variation curve, wherein the voltage control module is used to output a target control voltage to control an angular velocity driving module to control the angular velocity;

It should be noted that the combination of the voltage control module and the angular velocity drive module is referred to as a rate control system. The voltage control module needs to determine the target output voltage of the angular velocity drive module based on the target angular velocity change curve, the actual output voltage of the current voltage control module, the actual angular velocity signal output by the angular velocity drive module, and the total disturbance, so that the angular velocity drive module can control the angular velocity according to the target output voltage. The total disturbance here is the unity of the rate control system model error and the external disturbance. The following will introduce the process of the voltage control module being used to output the target control voltage to control the angular velocity drive module to control the angular velocity.

Specifically, feedforward control can improve the dynamic response of the system when the differential of the reference signal is known. Here, the specific process of obtaining the feedforward control amount of the voltage control module according to the target angular velocity change curve is as follows:

The target angular velocity change curve is subjected to nonlinear filtering, and a differential signal of the target angular velocity change curve after the nonlinear filtering is obtained; and the feedforward control amount is determined based on the following formula:

(1)

in, is the feedforward control quantity, is the torque coefficient, is the differential signal, is the first adjustable parameter, and J is the moment of inertia.

It should be noted that the maximum acceleration that the rate control system can withstand is:

(2)

in, It is the control voltage limit in the rate control system. Therefore, it is necessary to filter the input reference signal so that its maximum acceleration is less than the upper limit of the system acceleration. ; and give the differential of the filtered signal to calculate the feedforward control quantity. The specific calculation method is as follows:

(3)

in, is the reference signal, is the reference signal after filtering, is the speed factor. After filtering, the maximum change rate of the reference signal is no greater than , and can track without phase amplitude difference, and give the differential of the filtered reference signal .

Without considering the disturbance, the Laplace transformed equation of the system is:

(4)

For a given reference signal , substituting and sorting:

(5)

Step S103, obtaining the actual control voltage inputted by the angular velocity driving module and the actual angular velocity signal outputted by the angular velocity driving module;

The observed disturbance in the embodiment of the present application needs to be obtained according to the preset reduced-order state observer, and the input of the preset reduced-order state observer is the actual control voltage and the actual angular velocity signal, so it is necessary to obtain the actual control voltage input by the angular velocity drive module and the actual angular velocity signal output in advance. Among them, the actual control voltage can be obtained directly, and the actual angular velocity signal needs to be obtained according to the angular position signal obtained by the position sensor, and the angular position signal is differentially calculated to obtain the actual angular velocity signal. The specific implementation method is as follows:

The position sensor uses a high-precision grating, and after harmonic error compensation, it can be considered accurate enough, so the angular velocity is calculated directly by difference:

(6)

in, is the angular position, which is obtained by high-precision grating measurement. is the sampling interval.

Step S104, obtaining an actual error according to the target angular velocity variation curve and the actual angular velocity signal, and performing nonlinear proportional control on the actual error to obtain a nonlinear proportional control amount;

In the embodiment of the present application, the feedback control quantity includes a nonlinear proportional control quantity and a disturbance compensation control quantity. The disturbance compensation control can replace the integral effect of the traditional PID control to make the control system free of static error, while avoiding the influence of phase lag introduced by the integral control. Therefore, only the error needs to be nonlinearly proportionally controlled. The specific calculation steps of the nonlinear proportional control quantity are given below:

(7)

is the nonlinear proportional control quantity, is the sixth adjustable parameter, is the seventh adjustable parameter, It is the target angular velocity change curve after nonlinear filtering.

Step S105, inputting the actual control voltage and the actual angular velocity signal into a preset reduced-order state observer to obtain an observed disturbance;

It should be noted that the existing Extended State Observer (ESO) has an additional state variable (representing the position). In the application environment of the present invention, the state observer can be simplified by reducing the order, improving the response speed and reducing the number of parameters that need to be adjusted. The preset reduced-order state observer is established according to the following formula:

(8)

Among them, the is the second adjustable parameter, is the third adjustable parameter, is the fourth adjustable parameter, is the fifth adjustable parameter, h is the sampling interval, is the difference between the observed angular velocity signal and the actual angular velocity signal, is the speed variable output by the reduced-order state observer, which can be used as the speed output instead of the differential signal according to the actual measurement noise situation; is the actual angular velocity signal, is the observed disturbance, Sat is the saturation function, is the preset disturbance observation limit, The function is symmetric about the center of the positive semi-axis. Power function, and near zero The width interval is linearized, and the specific formula is as follows:

(9)

The function is a saturation function, parameter It has a limiting effect on the observed disturbance value, as follows:

(10)

Step S106, obtaining a disturbance compensation control amount based on the observed disturbance;

Obtaining a disturbance compensation control amount based on the observed disturbance includes:

(11)

Among them, the is the disturbance compensation control quantity.

Step S107, inputting the feedforward control amount, the nonlinear proportional control amount and the disturbance compensation control amount into the voltage control module to obtain the target control voltage;

The feedforward control amount, nonlinear proportional control amount and disturbance compensation control amount have been obtained above. The formula for determining the target control voltage based on the feedforward control amount, nonlinear proportional control amount and disturbance compensation control amount is as follows:

(12)

Step S108, triggering the angular velocity driving module to control the angular velocity according to the target control voltage, the torque coefficient and the actual disturbance, wherein the torque coefficient is obtained by identification and estimation according to a preset identification algorithm.

It should be noted that the rate control system of the embodiment of the present application is also called a single-axis speed servo system model. The servo motor refers to an engine that controls the operation of mechanical elements in the servo system, and is an auxiliary motor indirect speed change device. The servo motor can control the speed and position accuracy very accurately, and can convert the voltage signal into torque and speed to drive the control object. The rotor speed of the servo motor is controlled by the input signal and can respond quickly. In the automatic control system, it is used as an actuator and has the characteristics of small electromechanical time constant and high linearity. It can convert the received electrical signal into angular displacement or angular velocity output on the motor shaft. It is divided into two categories: DC and AC servo motors. Its main characteristics are that there is no self-rotation when the signal voltage is zero, and the speed decreases uniformly with the increase of torque. The embodiment of the present application gives a schematic diagram of the single-axis speed servo system model, as shown in Figure 2.

The speed control system uses a permanent magnet synchronous motor as a driving device. The voltage balance equation of the three-phase stator winding of the permanent magnet synchronous motor can be expressed as:

(13)

Where: for Phase winding phase voltage, ;

is the phase resistance of the three-phase winding;

for Phase winding phase current, ;

for The flux linkage on the phase winding, ; The dot indicates the derivative of the parameter.

The electromagnetic torque is:

(14)

in, is the number of motor pole pairs.

It can be seen that under the three-phase coordinates of the stator, the mathematical equation of the electromagnetic torque of the motor is complex and coupled. For the needs of actual control, the voltage balance equation is established in the rotor d-q coordinate system through Clark transformation and Park transformation as follows:

(15)

in, is the direct-axis current after transformation, is the direct-axis magnetic flux after transformation. is the quadrature-axis current after transformation, is the cross-axis flux after transformation. The resistance of the two axes after transformation.

The electromagnetic torque can be calculated by the following formula:

(16)

in, is the flux linkage of the permanent magnet on the stator side, is the equivalent d-axis and q -axis is the inductance.

Controlled by the controller's built-in current loop , And order , the current loop bandwidth is large enough to be considered not to affect the control effect, then the electromagnetic torque equation can be simplified to the following formula:

(17)

Proportional to control voltage , so we have:

(18)

Control voltage With electromagnetic torque It can be regarded as a proportional relationship. is the torque coefficient.

According to Newton's second law, we have:

(19)

in, Moment of inertia, is the angular velocity, is the electromagnetic torque, It is the actual external disturbance of the inertial test equipment.

In addition, the embodiment of the present application also designs an identification method to estimate the torque coefficient in real time. The details are as follows:

Consider the linear equation:

(20)

in, is the system output, is the information matrix, is the system parameter, is noise. Its corresponding cost function The recursive least squares algorithm with the forgetting factor for the minimum value is:

(twenty one)

in, For the forgetting factor, , is a sufficiently large real number.

Substituting formula (18) into formula (19) and discretizing it, we can obtain:

(twenty two)

in, is the sampling interval.

Similarly, there are:

(twenty three)

The sampling interval is short enough to be considered By rearranging equations (10) and (11), we can obtain:

(twenty four)

make , , , the torque coefficient can be identified according to the above formula.

A block diagram of a rate control method for an inertial testing device provided in an embodiment of the present application is shown in FIG3 . The reference signal in FIG3 is the target angular velocity change curve. Through the rate control method for the inertial testing device shown in FIG3 , the angular velocity can be well controlled with high precision.

The present application also provides a simulation example, as shown below:

The parameters of the electromechanical servo system are: sampling step , moment of inertia , torque coefficient , maximum motor torque The initial state of the system is 0. The expected tracking curve is .

Apply a perturbation: , is a standard white noise with a mean of 0 and a variance of 1. To approximate the actual system characteristics, a first-order low-pass filter with a bandwidth of 500 Hz is added after the control voltage output as a simplified current loop model.

The system can provide maximum acceleration , take the speed factor The transition process is arranged by nonlinear filtering, as shown in Figure 4. It can be seen that after the reference signal is filtered, The slope of the control signal is close to the expected tracking curve, and the desired sinusoidal signal can be tracked without phase difference and amplitude attenuation, and a differential signal can be provided to calculate the feedforward control amount.

Forgetting Factor , torque coefficient The identification curve is shown in Figure 5.

Pick , , , the disturbance observation value is shown in Figure 6. It can be seen that the observer tracks the changing disturbance very well, and also tracks the step change of the disturbance very well at the moment t=5.

Pick , , , the control speed is shown in Figure 7, and the speed error is shown in Figure 8. It can be seen that the control speed overshoot is very small and there is no static error, and it can also track the sinusoidal changes well. Compared with the well-tuned PID control (same reference signal, , , , where the integral is only It can be seen that the overshoot of this method is significantly smaller and the transition process is significantly shorter; while having good suppression capabilities for both constant value disturbances and noise disturbances, this method has significant dynamic tracking performance for rapidly changing reference signals.

The above is a description of a rate control method for an inertia test device in an embodiment of the present invention. The following is a description of an apparatus for executing the rate control method for an inertia test device.

Please refer to FIG9 , a rate control device of an inertia testing device provided by an embodiment of the present invention includes:

The first acquisition module 901 is used to acquire a target angular velocity variation curve;

A feedforward control amount determination module 902 is used to obtain a feedforward control amount of a voltage control module according to the target angular velocity change curve, wherein the voltage control module is used to output a target control voltage to control the angular velocity driving module to control the angular velocity;

A second acquisition module 903 is used to acquire the actual control voltage input and the actual angular velocity signal output by the angular velocity driving module;

A nonlinear proportional control amount determination module 904 is used to obtain an actual error according to the target angular velocity change curve and the actual angular velocity signal, and perform nonlinear proportional control on the actual error to obtain a nonlinear proportional control amount;

An observed disturbance determination module 905 is used to input the actual control voltage and the actual angular velocity signal into a preset reduced-order state observer to obtain an observed disturbance;

A disturbance compensation control amount determination module 906, configured to obtain a disturbance compensation control amount based on the observed disturbance;

A target control voltage determination module 907, configured to input the feedforward control variable, the nonlinear proportional control variable and the disturbance compensation control variable into the voltage control module to obtain the target control voltage;

The angular velocity control module 908 is used to trigger the angular velocity driving module to control the angular velocity according to the target control voltage, the torque coefficient and the actual disturbance, wherein the torque coefficient is obtained by identification and estimation according to a preset identification algorithm.

Optionally, the feedforward control amount determination module 902 is specifically used to:

Performing nonlinear filtering on the target angular velocity variation curve, and obtaining a differential signal of the target angular velocity variation curve after the nonlinear filtering;

The feedforward control amount is determined based on the following formula:

Among them, the is the feedforward control quantity, is the moment coefficient, the is the differential signal, the is the first adjustable parameter, and J is the moment of inertia.

Optionally, the second acquisition module 903 is specifically configured to:

The rotation angle position signal obtained by the position sensor is obtained, and the actual angular velocity signal is obtained by performing differential calculation on the rotation angle position signal.

Optionally, the observed disturbance determination module 905 is specifically configured to:

The preset reduced-order state observer is established according to the following formula:

Among them, the is the second adjustable parameter, is the third adjustable parameter, is the fourth adjustable parameter, is the fifth adjustable parameter, h is the sampling interval, is the difference between the observed angular velocity signal and the actual angular velocity signal, is the speed variable output by the reduced-order state observer, is the actual angular velocity signal, is the observed disturbance, Sat is the saturation function, is the preset disturbance observation limit, The function is symmetric about the center of the positive semi-axis. The power function, the specific formula is as follows:

.

Optionally, the nonlinear proportional control amount determination module 904 is specifically used for:

The nonlinear proportional control amount is determined according to the following formula:

Among them, the is the nonlinear proportional control quantity, is the sixth adjustable parameter, The seventh adjustable parameter is It is the target angular velocity change curve after nonlinear filtering.

Optionally, the disturbance compensation control amount determination module 906 is specifically used to

Among them, the is the disturbance compensation control quantity.

Optionally, the angular velocity control module 908 is specifically configured to:

The angular velocity is controlled according to the following formula:

Among them, the is the angular velocity after control, is the target control voltage, the is the actual disturbance.

The rate control device of an inertial test device in an embodiment of the present application is described above from the perspective of modular functional entities. The rate control device of an inertial test device in an embodiment of the present application is described below from the perspective of hardware processing.

Please refer to FIG. 10 , which shows a rate control device of an inertial test device in an embodiment of the present application, including at least one processor 1001 and at least one memory 1002 , and a bus system 1009 ;

The memory stores program codes, and when the program codes are executed by the processor, the processor performs the following process:

Obtain target angular velocity change curve;

Obtaining a feedforward control amount of a voltage control module according to the target angular velocity variation curve, wherein the voltage control module is used to output a target control voltage to control an angular velocity driving module to control the angular velocity;

Acquiring an actual control voltage inputted by the angular velocity driving module and an actual angular velocity signal outputted by the angular velocity driving module;

Obtaining an actual error according to the target angular velocity variation curve and the actual angular velocity signal, and performing nonlinear proportional control on the actual error to obtain a nonlinear proportional control amount;

Inputting the actual control voltage and the actual angular velocity signal into a preset reduced-order state observer to obtain an observed disturbance;

Obtaining a disturbance compensation control amount based on the observed disturbance;

Inputting the feedforward control amount, the nonlinear proportional control amount and the disturbance compensation control amount into the voltage control module to obtain the target control voltage;

The angular velocity driving module is triggered to control the angular velocity according to the target control voltage, the torque coefficient and the actual disturbance, wherein the torque coefficient is obtained by identification and estimation according to a preset identification algorithm.

FIG10 is a schematic diagram of a rate control device of an inertial test device provided in an embodiment of the present application. The device 1000 may have relatively large differences due to different configurations or performances, and may include one or more processors (full name in English: central processing units, abbreviated in English: CPU) 1001 (for example, one or more processors) and a memory 1002, and one or more storage media 1003 (for example, one or more mass storage devices) storing application programs 1004 or data 1005. Among them, the memory 1002 and the storage medium 1003 can be short-term storage or permanent storage. The program stored in the storage medium 1003 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the information processing device. Furthermore, the processor 1001 may be configured to communicate with the storage medium 1003 and execute a series of instruction operations in the storage medium 1003 on the device 1000.

The device 1000 may also include one or more wired or wireless network interfaces 1007, one or more input and output interfaces 1008, and/or one or more operating systems 1006, such as Windows Server, Mac OSX, Unix, Linux, FreeBSD, etc.

The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (9)

1. A rate control method for an inertial test device, comprising: Obtain target angular velocity change curve; Obtaining a feedforward control amount of a voltage control module according to the target angular velocity variation curve, wherein the voltage control module is used to output a target control voltage to control an angular velocity driving module to control the angular velocity; Acquiring an actual control voltage inputted by the angular velocity driving module and an actual angular velocity signal outputted by the angular velocity driving module; Obtaining an actual error according to the target angular velocity variation curve and the actual angular velocity signal, and performing nonlinear proportional control on the actual error to obtain a nonlinear proportional control amount; Inputting the actual control voltage and the actual angular velocity signal into a preset reduced-order state observer to obtain an observed disturbance; Obtaining a disturbance compensation control amount based on the observed disturbance; Inputting the feedforward control amount, the nonlinear proportional control amount and the disturbance compensation control amount into the voltage control module to obtain the target control voltage; Triggering the angular velocity driving module to control the angular velocity according to the target control voltage, the torque coefficient and the actual disturbance, wherein the torque coefficient is obtained by identification and estimation according to a preset identification algorithm; Wherein, the feedforward control amount of the voltage control module is obtained according to the target angular velocity change curve, including: Performing nonlinear filtering on the target angular velocity variation curve, and obtaining a differential signal of the target angular velocity variation curve after the nonlinear filtering; The feedforward control amount is determined based on the following formula: Among them, the is the feedforward control quantity, is the moment coefficient, the is the differential signal, the is the first adjustable parameter, and J is the moment of inertia. 2. The method according to claim 1, characterized in that the step of obtaining the actual control voltage inputted by the angular velocity driving module and the actual angular velocity signal outputted by the angular velocity driving module comprises: The rotation angle position signal obtained by the position sensor is obtained, and the actual angular velocity signal is obtained by performing differential calculation on the rotation angle position signal. 3. The method according to claim 1, characterized in that the step of inputting the actual control voltage and the actual angular velocity signal into a preset reduced-order state observer to obtain an observed disturbance comprises: The preset reduced-order state observer is established according to the following formula: Among them, the is the second adjustable parameter, is the third adjustable parameter, is the fourth adjustable parameter, h is the sampling interval, is the difference between the observed angular velocity signal and the actual angular velocity signal, is the speed variable output by the reduced-order state observer, is the actual angular velocity signal, To observe the disturbance, is the actual control voltage at the kth moment, Sat is the saturation function, is the preset disturbance observation limit, The function is symmetric about the center of the positive semi-axis. The power function has the following formula: . 4. The method according to claim 3, characterized in that the actual error is obtained according to the target angular velocity change curve and the actual angular velocity signal, and the nonlinear proportional control is performed on the actual error to obtain the nonlinear proportional control amount, comprising: The nonlinear proportional control amount is determined according to the following formula: Among them, the is the nonlinear proportional control quantity, is the fifth adjustable parameter, is the sixth adjustable parameter, It is the target angular velocity change curve after nonlinear filtering. 5. The method according to claim 4, characterized in that the obtaining of the disturbance compensation control amount based on the observed disturbance comprises: Among them, the is the disturbance compensation control quantity. 6. The method according to claim 5, characterized in that triggering the angular velocity driving module to control the angular velocity according to the target control voltage, torque coefficient and actual disturbance comprises: The angular velocity is controlled according to the following formula: Among them, the is the angular velocity after control, is the target control voltage, the is the actual disturbance. 7. A rate control device for an inertial test device, characterized in that the device comprises: A first acquisition module is used to acquire a target angular velocity variation curve; A feedforward control amount determination module, used for obtaining a feedforward control amount of a voltage control module according to the target angular velocity variation curve, wherein the voltage control module is used for outputting a target control voltage to control the angular velocity driving module to control the angular velocity; A second acquisition module is used to acquire an actual control voltage input and an actual angular velocity signal output by the angular velocity driving module; a nonlinear proportional control amount determination module, configured to obtain an actual error according to the target angular velocity variation curve and the actual angular velocity signal, and perform nonlinear proportional control on the actual error to obtain a nonlinear proportional control amount; An observed disturbance determination module, used for inputting the actual control voltage and the actual angular velocity signal into a preset reduced-order state observer to obtain an observed disturbance; A disturbance compensation control amount determination module, used to obtain a disturbance compensation control amount based on the observed disturbance; a target control voltage determination module, used for inputting the feedforward control amount, the nonlinear proportional control amount and the disturbance compensation control amount into the voltage control module to obtain the target control voltage; An angular velocity control module, used for triggering the angular velocity driving module to control the angular velocity according to the target control voltage, the torque coefficient and the actual disturbance, wherein the torque coefficient is obtained by identification and estimation according to a preset identification algorithm; The feedforward control amount determination module is specifically used to perform nonlinear filtering on the target angular velocity change curve, and obtain a differential signal of the target angular velocity change curve after the nonlinear filtering; The feedforward control amount is determined based on the following formula: Among them, the is the feedforward control quantity, is the moment coefficient, the is the differential signal, the is the first adjustable parameter, and J is the moment of inertia. 8. A rate control device for an inertial test device, comprising: a processor and a memory, wherein the memory is used to store a program; The processor is configured to execute the program in the memory so that the computer executes the rate control method of the inertial test device according to any one of claims 1 to 6. 9 . A computer-readable storage medium, characterized by comprising computer program instructions, which, when executed on a computer, enable the computer to execute the rate control method of the inertial test equipment according to any one of claims 1 to 6 .