Data‐driven dual‐rate cascade control and application to pitch angle control of UAV
Data‐driven dual‐rate cascade control and application to pitch angle control of UAV
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DOI：
10.1002/asjc.2835
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发表时间：
2022-04
影响因子：
2.4
通讯作者：
Y. Sakai;N. Kawaguchi;Takao Sato;O. Arrieta
中科院分区：
文献类型：
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作者：
Y. Sakai;N. Kawaguchi;Takao Sato;O. Arrieta
提出了一种数据驱动的串级控制系统设计方法。串级控制系统由内环和外环组成，其中外环的控制间隔是内环的整数倍;因此，系统是双速率系统。在所提出的方法中，控制器在内部和外部循环的设计基于单次数据。在这样的双速率级联系统中，由于控制器是使用不同的数据速率信号设计的，因此应用提升技术来对齐双速率数据。为了证明其有效性，将所提出的方法与传统的单速率串级控制方法进行了比较，并进行了数值仿真和实验来检查伺服和调节性能。
A data‐driven design method for a cascade control system is proposed. The cascade control system consists of inner and outer loops, where the control interval of the outer loop is an integer multiple of the inner loop; hence, the system is a dual‐rate system. In the proposed method, controllers in the inner and outer loops are designed based on one‐shot data. In such a dual‐rate cascade system, since the controllers are designed using different data‐rate signals, the lifting technique is applied to align the dual‐rate data. To show its effectiveness, the proposed method is compared with a conventional single‐rate cascade control method, and numerical simulations and experiments are presented to examine servo and regulation performance.