A new type filtering processing method for an extended state observer
A technology of expanding state and filtering processing, applied in the field of electricity, can solve the problem of asynchrony between output and input, and achieve the effect of accurate observation and good use effect.
Inactive Publication Date: 2015-03-11
GUIZHOU UNIV
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[0003] The purpose of the present invention is to provide a novel filter processing method for the extended state observer, which solves the problem that the output and input of the controlled object are not synchronized after ordinary filter processing, so that the extended state observer has a good observation precision, and the controller has a good control effect to overcome the deficiencies of the existing technology
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[0009] The embodiment of the present invention: the filtering processing method of the novel expanded state observer, the control amount u And the output of the controlled object y It directly enters the expanded state observer without passing through the filter, and filters the observation output of the expanded state observer; after each observation in the observation output, a filter is added, and the filter adopts IIR filtering.
[0010] In this embodiment, when the output y has noise pollution, the output y is not directly filtered, but the output of the expanded state observer Z 1 -Z N+1 The filtering process was performed separately.
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The invention discloses a new type filtering processing method for an extended state observer, the method comprising: entering control quantity u and output quantity y of a controlled object into an extended state observer without passing through a filter, and filtering observation output quantity of the extended state observer. The method eliminates unfavorable influences caused by noise, by filtering output of the extended state observer, and the method also solves a problem that the output quantity and input quantity of the controlled object are not synchronous with each other after a common filtering processing, and thus the method obtains much more correct observation quantity. The method is easy to be implemented, and has a great using effect.
Description
Technical field [0001] The present invention relates to the field of electrical technology, in particular to a filtering processing method for a novel expanded state observer. Background technique [0002] The extended state observer is not only used to observe unknown disturbances, but also can be used to observe the state of the system. The controller compensates for the unknown disturbances observed, which can improve the control effect. But when the output of the controlled object is disturbed, it must be filtered. The current filtering processing method used for the extended state observer is problematic, and the current filtering processing method directly filters the output of the control object. And because filters are all lagging, this causes the filtered output to lag behind the input. This makes the input and output of the expanded state observer out of sync. A slight out of sync will cause inaccurate observations and reduce the control accuracy of the control system...
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IPC IPC(8): H03H17/02
Inventor 陈平辉赵庆源邱望标
Owner GUIZHOU UNIV
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