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Position type ADRC method with undisturbed switching function

A technology of active disturbance rejection control and active disturbance rejection controller, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of smooth transition of uncontrollable quantities, regardless of disturbance-free switching, and adverse system safety. And other issues

Inactive Publication Date: 2014-04-30
TSINGHUA UNIV
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Problems solved by technology

So far, there are few studies on the problem of bumpless switching of ADRC controllers. If in the actual industrial application process, only the basic control algorithm is directly used to realize ADRC without considering the problem of bumpless switching, it will not be possible to In the process of control mode switching, the control quantity is smoothly transitioned, which is not conducive to the security of the system, so it is necessary to study and discuss this problem

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  • Position type ADRC method with undisturbed switching function
  • Position type ADRC method with undisturbed switching function
  • Position type ADRC method with undisturbed switching function

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Embodiment Construction

[0036] The disturbance-free switching method of a position-type linear first-order and second-order ADRC controller proposed by the present invention is described in detail as follows in conjunction with the accompanying drawings:

[0037] The method proposed by the present invention is based on the discrete ADRC digital realization of the continuous ADRC controller, and the selected linear ADRC form adopts "ADRC Technology—Estimated Compensation Uncertainty" written by Han Jingqing Linear State Observer and Linear Error Feedback and Control Laws in Control Techniques for Factors. For linear first-order and second-order ADRC controllers, Euler's method is used to discretize to obtain a digitally realized ADRC controller. Therefore, during the discretization process, the following processing methods are adopted for the derivative part of the control algorithm:

[0038] x · = x ( ...

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Abstract

The invention discloses a position type active-disturbance-rejection control method with the undisturbed switching function, and belongs to the technical field of industrial automation. The method comprises the steps of judging the non-tracking state of an ADRC, selecting the degree of the ADRC, updating internal variable of the ADRC and the ADRC output respectively through different calculating modes according to the non-tracking state variable value and the degree of the ADRC,, and conducting abutting joint on the corresponding controlled variable and other variables of the system through the selection and judgment of an operator. The designed position type active-disturbance-rejection control method can achieve stable transition of the switching process of ADRC / PID / MAN modes, additional disturbance and impact on the controlled process cannot happen, and the simulation result indicates that the position type active-disturbance-rejection control method has effectiveness implementability in the process control application.

Description

technical field [0001] The invention belongs to the field of industrial automation, in particular to a position type active disturbance rejection control method with a disturbance-free switching function. Background technique [0002] Although the current process control field, including thermal control, chemical control and other fields, is still dominated by PID control, in the realization process of the specific digital control platform, PID control is characterized by its robustness, easy parameter setting, and easy to be used. Accepted by engineers, it occupies an important position. However, as the economy and efficiency of industrial production processes are gradually emphasized, the control requirements are gradually increasing, especially for some more complex high-order, multi-variable coupling, strong nonlinear, and interference. For objects with strong characteristics, PID control is difficult to meet the requirements. The idea of ​​Active Disturbance Rejection ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/00
Inventor 李东海薛亚丽张玉琼
Owner TSINGHUA UNIV
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