CN-121995758-A - Self-adaptive material accurate quantitative distribution method, system and storage medium

CN121995758ACN 121995758 ACN121995758 ACN 121995758ACN-121995758-A

Abstract

The invention provides a self-adaptive material accurate quantitative distribution method, a system and a storage medium, which comprise the steps of acquiring tracking errors and change rates of target quantification and current accumulation, utilizing a fractional order expanded state observer to estimate the state of a system and total disturbance in real time, decomposing the total disturbance into instantaneous and slowly varying components, adjusting the fractional order of the observer on line according to the amplitude proportion of the instantaneous and slowly varying components, utilizing a slowly varying component to correct an overshoot prediction model, determining a distribution stopping target value, constructing a fractional order nonlinear state error feedback control law in a control link, adjusting control gain according to slowly varying disturbance, adjusting nonlinear power according to accumulation progress, generating a control signal by combining instantaneous disturbance compensation until the accumulation amount of materials reaches a stopping target value, and realizing quantitative distribution.

Inventors

ZHANG JIANSHEN
Sui Runpu
CHENG ZHENG

Assignees

郑州屹成机械设备有限公司

Dates

Publication Date: 20260508
Application Date: 20260209

Claims (10)

1. The self-adaptive material accurate quantitative distribution method is characterized by comprising the following steps of: Acquiring an initial target quantitative value of material distribution and a current material accumulation amount acquired in real time, and calculating tracking errors and tracking error change rates between the initial target quantitative value and the current material accumulation amount; Decomposing the estimated value of the total disturbance into an instantaneous disturbance component and a slowly varying disturbance component, and adjusting the fractional order of the fractional order extended state observer on line according to the amplitude proportion of the instantaneous disturbance component and the slowly varying disturbance component; Constructing a fractional order nonlinear state error feedback control law, online adjusting basic gain of a nonlinear function in the control law according to the slowly varying disturbance component, and adjusting power coefficient of the nonlinear function according to the proportion of the current material accumulation amount and an initial target quantitative value; and continuously outputting the control signal until the current material accumulation amount reaches the distribution stop target value.
2. The method of claim 1, wherein the decomposing the estimate of the total disturbance into an instantaneous disturbance component and a slowly varying disturbance component comprises: obtaining a slowly varying disturbance component in the estimated value of the total disturbance through a low-pass filter; And carrying out difference on the estimated value of the total disturbance and the slowly-varying disturbance component to obtain an instantaneous disturbance component.
3. A method according to claim 1 or 2, wherein said adjusting the base gain of the nonlinear function in the control law on-line in accordance with the slowly varying disturbance component comprises: and adjusting the basic gain on line according to the slowly varying disturbance component through a preset function, wherein the preset function enables the basic gain to be reduced along with the increase of the amplitude of the slowly varying disturbance component.
4. The method of claim 1, wherein said adjusting the power coefficient of the nonlinear function according to the ratio of the current material accumulation amount to the initial target quantitative value comprises: Setting the power coefficient to a first coefficient value when the ratio is below a preset threshold; and when the proportion is higher than the preset threshold value, the power coefficient is decreased from the first coefficient value to the second coefficient value, and the first coefficient value is larger than the second coefficient value.
5. The method of claim 4, wherein the generating a control signal to a material dispensing actuator by combining a feedback control quantity generated based on the system state estimate and the adjusted nonlinear function with a compensation quantity for the instantaneous disturbance component comprises: calculating a nonlinear feedback control quantity based on the system state estimation value by using the adjusted basic gain and the adjusted power coefficient; Calculating a compensation amount for canceling the transient disturbance component; and subtracting the nonlinear feedback control quantity from the compensation quantity to generate a control signal.
6. The self-adaptive material accurate quantitative distribution system is characterized by comprising the following modules: The calculation module is used for acquiring an initial target quantitative value of material distribution and a current material accumulation amount acquired in real time, and calculating tracking errors and tracking error change rates between the initial target quantitative value and the current material accumulation amount; the determination module is used for decomposing the estimated value of the total disturbance into an instantaneous disturbance component and a slowly varying disturbance component, and adjusting the fractional order of the fractional order expansion state observer on line according to the amplitude proportion of the instantaneous disturbance component and the slowly varying disturbance component; The generation module is used for constructing a fractional order nonlinear state error feedback control law, adjusting the basic gain of a nonlinear function in the control law on line according to the slowly varying disturbance component, and adjusting the power coefficient of the nonlinear function according to the proportion of the current material accumulation amount and the initial target quantitative value; and the output module is used for continuously outputting the control signal until the current material accumulation amount reaches the distribution stop target value.
7. The system of claim 6, wherein the decomposing the estimate of the total disturbance into an instantaneous disturbance component and a slowly varying disturbance component comprises: obtaining a slowly varying disturbance component in the estimated value of the total disturbance through a low-pass filter; And carrying out difference on the estimated value of the total disturbance and the slowly-varying disturbance component to obtain an instantaneous disturbance component.
8. The system of claim 6, wherein said adjusting the base gain of the nonlinear function in the control law on-line based on the slowly varying disturbance component comprises: and adjusting the basic gain on line according to the slowly varying disturbance component through a preset function, wherein the preset function enables the basic gain to be reduced along with the increase of the amplitude of the slowly varying disturbance component.
9. The system of claim 6, wherein said adjusting the power coefficient of the nonlinear function according to the ratio of the current material accumulation amount to the initial target quantitative value comprises: Setting the power coefficient to a first coefficient value when the ratio is below a preset threshold; and when the proportion is higher than the preset threshold value, the power coefficient is decreased from the first coefficient value to the second coefficient value, and the first coefficient value is larger than the second coefficient value.
10. A computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements the method according to any of claims 1-5.

Description

Self-adaptive material accurate quantitative distribution method, system and storage medium Technical Field The application belongs to the field of control, and particularly relates to a self-adaptive material accurate quantitative distribution method, a system and a storage medium. Background The material distribution system is generally composed of a storage bin, an actuator and a weighing sensor unit, with the aim of bringing the material accumulation as close as possible to a preset target quantitative value while meeting the speed requirements. In the actual distribution process, it is inevitably affected by various internal and external disturbances. Such as fluctuations in material properties, non-linear properties and time-varying wear of the actuators, environmental vibrations, voltage fluctuations, etc. There is a delay from the stopping of the actuator until the material falls completely into the weighing cell, which is called overshoot or aerial material, one of the main causes of over-distribution. Conventional control methods, such as proportional-integral-derivative control, often rely on experience for parameter tuning, and it is difficult to balance between rapidity and accuracy. The active disturbance rejection control technology uniformly estimates all uncertain factors and disturbance inside and outside the system as total disturbance through an extended state observer and compensates the total disturbance in real time, so that the disturbance rejection capability of the system is enhanced. However, the ability to estimate disturbances containing both high and low frequency components, or having fractional order characteristics, is limited. For the problem of overshoot, the existing prediction method mostly adopts an off-line calibrated empirical formula or linear model, and when the material characteristics or working conditions change, the on-line adjustment cannot be carried out, so that the distribution precision is affected. Therefore, how to realize an allocation method capable of accurately estimating and compensating complex disturbance, predicting overshoot on line, and optimizing a control strategy is a technical problem to be solved in the current field. Disclosure of Invention The invention provides a self-adaptive material accurate quantitative distribution method, which is used for solving the problems that the prior art is difficult to accurately estimate and compensate complex disturbance and cannot predict the overshoot on line, and comprises the following steps: Acquiring an initial target quantitative value of material distribution and a current material accumulation amount acquired in real time, and calculating tracking errors and tracking error change rates between the initial target quantitative value and the current material accumulation amount; Decomposing the estimated value of the total disturbance into an instantaneous disturbance component and a slowly varying disturbance component, and adjusting the fractional order of the fractional order extended state observer on line according to the amplitude proportion of the instantaneous disturbance component and the slowly varying disturbance component; Constructing a fractional order nonlinear state error feedback control law, online adjusting basic gain of a nonlinear function in the control law according to the slowly varying disturbance component, and adjusting power coefficient of the nonlinear function according to the proportion of the current material accumulation amount and an initial target quantitative value; and continuously outputting the control signal until the current material accumulation amount reaches the distribution stop target value. Optionally, the decomposing the estimated value of the total disturbance into an instantaneous disturbance component and a slowly varying disturbance component, and adjusting the fractional order of the fractional order extended state observer on line according to the amplitude ratio of the instantaneous disturbance component to the slowly varying disturbance component includes: obtaining a slowly varying disturbance component in the estimated value of the total disturbance through a low-pass filter; The estimated value of the total disturbance is differenced with the slowly varying disturbance component to obtain an instantaneous disturbance component; And calculating the amplitude ratio of the instantaneous disturbance component to the slowly-varying disturbance component, and carrying out online adjustment on the fractional order based on the ratio. Optionally, the online correction of the overshoot prediction model by using the slowly varying disturbance component, and determining the allocation stop target value based on the corrected model, includes: Constructing an overshoot prediction model; And determining an allocation stop target value by using the corrected model. Optionally, the online adjusting the basic gain of the nonlinear function in the control la