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Improved auto-disturbance rejection controlling method

A technology of active disturbance rejection control and controller, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of controller performance degradation, achieve the reduction of observation error, parameter reduction, and control error reduction Effect

Inactive Publication Date: 2015-04-29
INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

But in fact, the nonlinear function in the nonlinear ADRR is to improve the control performance of the controller, so if it is changed to a linear ADRR control structure, the performance of the controller will inevitably decrease

Method used

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  • Improved auto-disturbance rejection controlling method

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Embodiment Construction

[0025] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0026] Suppose the control object of the system can be described as:

[0027] x · 1 = x 2

[0028] x · 2 = ax 2 + bu + f

[0029] y=x 1

[0030] where x 1 Represents the position signal of the system, namely θ; x 2 Represents the speed signal of the system; f represents the disturbance signal received by the system. a and b respectively represent the physical parameters of the system itself. The specific design process of the improved ADRC method will be introduced below.

[0031] Step (1): The servo system consists of figure 1 The photoelectric tracking system shown is c...

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Abstract

The invention relates to an improved auto-disturbance rejection controlling method, and provides the improved auto-disturbance rejection controlling method to overcome the defect that a nonlinear auto-disturbance rejection controlling method has a plurality of parameters which are difficult to set. According to the improved auto-disturbance rejection controlling method, an extended state observer in a traditional auto-disturbance rejection controlling method is designed as a disturbance observer which is not based on a system model; the disturbance observer is designed to be only related to two parameters by using a linear auto-disturbance rejection controller parameter setting method, so as to achieve the purpose of reducing the amount of setting parameters. Moreover, the improved auto-disturbance rejection controlling method fully integrates the advantages and disadvantages of linear auto-disturbance rejection and nonlinear auto-disturbance rejection, so that the performance of the controller is maximized; the controlling method can reduce the error of the traditional auto-disturbance rejection controlling method, and improves the control accuracy of the system.

Description

technical field [0001] The invention belongs to the technical field of high-precision tracking control, and in particular relates to an improved active disturbance rejection control method. Background technique [0002] High precision and fast response have always been the goals pursued by tracking control systems. The response speed of the system mainly depends on the bandwidth of the system, but this is determined by the physical characteristics of the system itself. And how to suppress the defects of the system itself and improve the bandwidth of the system in the limited bandwidth has always been what engineers want to work hard to solve. The structure of the tracking control system determines some nonlinear characteristics of the system, such as dead zone, friction force, saturation and uncertainty of some models. All of these features will undoubtedly deteriorate the tracking accuracy of the system, and even lead to system instability if not well designed. Aiming at...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 黄永梅蔡华祥杜俊峰唐涛张桐左丹程静
Owner INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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