CN-121978917-A - Dual-stage anti-shake control method for multi-mode system with random duration residence time

CN121978917ACN 121978917 ACN121978917 ACN 121978917ACN-121978917-A

Abstract

The invention discloses a dual-stage anti-shake control method of a multi-mode system with random duration, which comprises the steps of establishing a multi-mode system with random duration depending on the duration, establishing a dual-stage anti-shake control framework and a corresponding segmented anti-shake controller structure, establishing a dual-stage anti-shake control target according to the framework, carrying out stability analysis on the established multi-mode system with random duration depending on the duration based on the dual-stage anti-shake control target to obtain a primary stability judgment condition, determining the existence condition of the primary anti-shake controller based on the obtained primary stability judgment condition, carrying out stability analysis on the established multi-mode system with random duration depending on the duration under the secondary anti-shake control framework based on the dual-stage anti-shake control target to obtain a secondary stability judgment condition, and determining the existence condition of the secondary anti-shake controller based on the secondary stability judgment condition.

Inventors

CHEN CHAOJI
LIANG LU
FAN SONGTAO
ZHAO YU
YANG JIANAN
YU HUAN
ZHAO JIANHE
YIN ZHAO

Assignees

北京空间飞行器总体设计部

Dates

Publication Date: 20260505
Application Date: 20260106

Claims (7)

1. A dual-stage anti-shake control method for a multi-modal system with random duration, comprising: establishing a random modality dependent continuous residence time multi-modality system; Establishing a double-stage anti-shake control framework and a corresponding segmented anti-shake controller structure, and accordingly establishing a double-stage anti-shake control target; based on a dual-stage anti-shake control target, performing stability analysis on the established random mode dependent continuous residence time multi-mode system to obtain a primary stability judgment condition; determining the existence condition of the primary anti-shake controller based on the obtained primary stability judgment condition; based on a dual-stage anti-shake control target, under a secondary anti-shake control architecture, performing stability analysis on the established random mode dependent continuous residence time multi-mode system to obtain a secondary stability judgment condition; Based on the secondary stability determination condition, a secondary anti-shake controller presence condition is determined.
2. The method for dual-stage anti-shake control with random duration multi-mode system according to claim 1, wherein said establishing a random-mode dependent duration multi-mode system comprises: establishing a discrete time switching linear system model: Wherein the method comprises the steps of Is a state vector of the state of the object, Is a control input, matrix pair For any one It is possible to control the amount of the liquid in the liquid tank, Is corresponding to Piecewise continuous switching signal for individual subsystems for a switching sequence And Thought to be the first The individual subsystem is activated and Switching signal Known as a stochastic mode dependent persistence time switching signal; If the signal is switched The following conditions are satisfied: (1) There are infinite numbers of lengths equal to Is not connected with each other, wherein Is a positive number constant which is used to determine the number of the cells, Is subject to random distribution Non-negative random variables and over these intervals ; (2) The length of the continuous interval meeting the former condition is not more than Is divided into a plurality of sections, Representing the maximum allowable length of the continuous switching section in each stage for limiting the intensity of continuous switching; Then And Respectively referred to as a fixed modality dependent persistence time and a stochastic modality dependent persistence time; The interval consisting of the dwell time part and the persistent switch part is defined as one basic unit of random mode dependent persistent dwell time switch, consider the first Each interval First, the Subsystem in residence time section Is activated and operated During a sampling period, in a continuous switching section Multiple times of switching can be performed in the first step The subsystem has the running time of Wherein Indicating the (r) th switching time in duration, the(s) th phase has a duration length of And satisfies: Wherein the method comprises the steps of Representation interval The number of switching times in the above-mentioned process, And (3) with Respectively representing two adjacent or non-adjacent switching moments in a system switching sequence, and furthermore, when When the random mode dependence dwell time switch is changed into the random mode dependence dwell time switch; thus, the construction of the random mode dependent continuous residence time multi-mode system is completed.
3. The method for dual-stage anti-shake control of a multi-mode system with random duration according to claim 2, wherein said establishing a dual-stage anti-shake control architecture and a corresponding segmented anti-shake controller structure, and establishing dual-stage anti-shake control targets accordingly, comprises: according to the established random continuous residence time multi-mode system, a primary anti-shake control is proposed, and a non-mode dependent anti-shake controller is introduced , Representing the other direction of the modal switching to replace the original modal dependent controller of the continuously switched part Wherein , Limiting the amplitude of single jitter at the boundary of the dwell time part of the continuous switching part and the adjacent dwell time part by establishing an anti-jitter performance constraint, wherein the corresponding mathematical expression is as follows: For ensuring system stability or controller The following segmented controller structure is established: to satisfy the following constraint I.e. Wherein the method comprises the steps of And Is given as a positive constant, wherein And Respectively represent the first of the system And (d) A modality; based on primary anti-shake control, an anti-shake control section is set in a dwell time part or a continuous switching part initial stage Or (b) Internally inserted group of anti-shake controllers Or (b) The smooth transition from the persistent handover part or dwell time part to the dwell time part or persistent handover part is achieved, the following mathematical expression corresponds to this process: based on the primary anti-shake control segment controller, the following secondary anti-shake segment controller is proposed Wherein the method comprises the steps of ; The anti-shake performance constraint that needs to be satisfied by the secondary anti-shake segment controller is then based on the slave To the point of Or from To the point of Divided into two different groups as follows: the first group is: Which corresponds to the case where the anti-shake zone is equal to 1, i.e. And the anti-shake interval is greater than or equal to 2, namely The second group is: Which corresponds to the case where the anti-shake zone is equal to 1, i.e. And the anti-shake interval is greater than or equal to 2, namely Wherein the method comprises the steps of And A normal number given in relation to anti-shake performance; Establishing a dual-stage anti-shake control target, namely designing a dual-stage anti-shake controller structure of primary anti-shake and secondary anti-shake so that a random mode depends on a continuous residence time multi-mode system Has the constraint of anti-shake performance and ensures the mean square stability.
4. The method for dual-stage anti-shake control with random duration multi-mode system according to claim 3, wherein the performing stability analysis on the established random-mode dependent duration multi-mode system based on the dual-stage anti-shake control target to obtain a primary stability judgment condition comprises: The discrete-time multi-modal system is Given parameters , , , Dependent residence time for existence of fixed modality Random modality dependent dwell time Duration period Assuming that there is a function And And two Function of And So that , Then the closed loop multi-mode system with the primary switch controller is adequate for Is mean square stable, thereby determining the inequality as a primary stability decision condition for a closed loop multi-mode system of the primary switching controller.
5. The method for dual-stage anti-shake control of a multi-modal system with random duration as set forth in claim 4, wherein determining the presence condition of the primary anti-shake controller based on the obtained primary stability determination condition includes: discrete time switching linear system With a normal number Presetting the gain of a ballast controller Is controlled by a controller of (a) Order-making machine Is given a constant, depends on residence time for the fixed mode Random modality dependent dwell time Duration period Assuming that there is a set of matrices So that So that So that So that Wherein the method comprises the steps of ; The closed loop system generated by the primary anti-shake segment controller is stable in the mean square for the switching signal of the closed loop multi-mode system, and simultaneously meets the primary anti-shake performance condition, wherein . Thereby determining the inequality as the existence condition of the primary anti-shake controller and obtaining the gain of the designed primary anti-shake controller as 。
6. The method for dual-stage anti-shake control of a multi-mode system with random duration according to claim 5, wherein the performing stability analysis on the established multi-mode system with random duration according to the established multi-mode system with random duration under the secondary anti-shake control architecture based on the dual-stage anti-shake control target to obtain the secondary stability judgment condition comprises: According to Discrete-time multi-modal system and given parameters And for fixed modality dependent residence time in system model Random modality dependent dwell time Duration period Assuming that there is a function Two of them Function of And So that Then the closed loop multi-modal system with secondary switching controller is adequate for Is mean square stable, thereby determining the inequality as a secondary stability decision condition for a closed loop multi-mode system of the secondary switching controller.
7. The method for dual-stage anti-shake control of a multi-modal system with random duration as set forth in claim 6, wherein the determining the secondary anti-shake controller presence condition based on the secondary stability decision condition includes: switching linear systems according to discrete time With a normal number Presetting the gain of a ballast controller Command of the controller of (a) For a given constant value of the number, . Dependent residence time for the aforementioned fixed modality Random modality dependent dwell time Duration period Assuming that there is a set of matrices So that Wherein the method comprises the steps of ; ; Thereby determining the inequality as the existence condition of the secondary anti-shake controller and obtaining the gain of the secondary anti-shake controller as 。

Description

Dual-stage anti-shake control method for multi-mode system with random duration residence time Technical Field The invention relates to a double-stage anti-shake control method for a multi-mode system with random duration residence time, and belongs to the technical field of anti-shake control of multi-mode systems. Background The switching signal is an important component of a multi-modal system that characterizes the fundamental characteristics of the system and has a significant impact on the stability and performance of the system. Among the various types of handover, non-deterministic handover has received considerable attention over the last decades due to its inherent complexity and the wide spread in practice compared to deterministic handover. Within the category of non-deterministic handovers, they can be classified into general handovers and random handovers, depending on whether the statistical information describes the handover behavior. The boundaries of these two switching types have long been quite clear, however, the switching signals may contain both of these characteristics due to the increasing complexity of the tasks and the accuracy requirements of the physical system modeling in engineering practice. While the random dwell time switching signal belongs to the situation, the related control research on the random dwell time switching signal is limited at present, and further exploration is needed. On the other hand, regarding common system theories of stability analysis, stabilization, estimation, identification and the like, they have achieved more mature research results in non-deterministic switching systems. However, jitter phenomena in the control input, as a typical problem for switching-specific behavior, may lead to adverse effects such as actuator damage or system instability, which is still not enough in the relevant research in non-deterministic switching systems. The existing anti-shake control methods are divided into three types, namely, controller state reset, controller structure modification and control constraint application. Most of these have been extended to multi-modal systems with general or random switching behavior, such as dwell/average dwell/duration dwell switching, and Markov jump systems, etc., by taking into account other control issues, such as asynchronous switching,Performance, etc., have achieved other related results. Most anti-shake control mechanisms are designed for a single shake generated by each handover and then further applied to a system having multiple handover behaviors. When the controlled object becomes a composite switching system which does not depend on the mode transition probability and has quick switching behavior, such as random mode dependence continuous residence time switching, the complex switching dynamics of the controlled object can make the existing anti-shake control method not applicable or reduce the anti-shake performance. Therefore, it is important to establish a specific anti-shake control mechanism for such a multi-mode system with unique composite switching characteristics. Disclosure of Invention The invention solves the technical problems of overcoming the defects of the prior art, providing a double-stage anti-shake control method of a multi-mode system with random continuous residence time, and solving the problems that the prior researches are mainly aimed at designing a controller for single shake generated by each switching, so that the anti-shake effect is limited to be improved. The technical scheme of the invention is that the double-stage anti-shake control method of the multi-mode system with random continuous residence time comprises the following steps: establishing a random modality dependent continuous residence time multi-modality system; Establishing a double-stage anti-shake control framework and a corresponding segmented anti-shake controller structure, and accordingly establishing a double-stage anti-shake control target; based on a dual-stage anti-shake control target, performing stability analysis on the established random mode dependent continuous residence time multi-mode system to obtain a primary stability judgment condition; determining the existence condition of the primary anti-shake controller based on the obtained primary stability judgment condition; based on a dual-stage anti-shake control target, under a secondary anti-shake control architecture, performing stability analysis on the established random mode dependent continuous residence time multi-mode system to obtain a secondary stability judgment condition; Based on the secondary stability determination condition, a secondary anti-shake controller presence condition is determined. The establishing a random modality dependent duration multi-modality system includes: establishing a discrete time switching linear system model: Wherein the method comprises the steps of Is a state vector of the state of the object,Is a control input