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Switching control method of linear/nonlinear active disturbance rejection control system

A technology of active disturbance rejection control and active disturbance rejection controller, which is applied in the field of automation

Inactive Publication Date: 2015-12-23
PEOPLES LIBERATION ARMY ORDNANCE ENG COLLEGE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There is currently no method for switching control of linear / nonlinear ADRC systems

Method used

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  • Switching control method of linear/nonlinear active disturbance rejection control system
  • Switching control method of linear/nonlinear active disturbance rejection control system
  • Switching control method of linear/nonlinear active disturbance rejection control system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0056] (1) Establishing an ADRC system, which includes a controlled object and an ADRC controller; the ADRC controller includes a tracking differentiator, an extended state observer and a state error feedback control law;

[0057] The input of the tracking differentiator is r; the output v of the tracking differentiator i (i=1,2,...,n) and the output z of the extended state observer i (i=1,2,...,n) is used as the input e of the state error feedback control law after subtraction comparison i ; The state error feedback control law and the output z of the extended state observer n+1 The value after the subtraction comparison is used as the first input signal of the extended state observer; the state error feedback control law and the output z of the extended state observer n+1 First do subtraction comparison, and then perform 1 / b multiplied gain, as the input signal of the controlled object; the output y of the controlled object is used as the second input signal of the expande...

Embodiment 2

[0082] In order to reflect the tracking accuracy of each controller more clearly, consider the controlled object

[0083] x · 1 = x 2 x · 2 = 20 s i n ( ω t ) + 15 s i g n ( sin ( ω t ) ) + u...

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Abstract

The invention discloses a switching control method of a linear / nonlinear active disturbance rejection control system. The method comprises the step of establishing an active disturbance rejection control system, the step of performing linear / nonlinear switching on an extended state observer and the step of carrying out linear / nonlinear switching on a state error feedback control law. The method provided by the invention has the following advantages: the method has a higher anti-interference capability and higher control precision; the stability is irrelevant with an initial state; and a parameter setting method provided by the invention is integrated with the advantages of both a "bandwidth method" and an "experience method", influences of sampling step length, noise and the like are also taken into consideration, and the problems of deteriorating tracking performance and control performance which are caused by too large disturbance amplitude do not have to be considered.

Description

technical field [0001] The invention belongs to the technical field of automation and relates to a switching control method of a linear / nonlinear active disturbance rejection control system. Background technique [0002] Researcher Han Jingqing of the Chinese Academy of Sciences realized that the control strategies given by the modern control theory based on mathematical models are difficult to be effectively applied in actual control engineering. Starting from thinking about "control theory-model theory or cybernetics", on the basis of reflecting on the advantages of classical control theory On the road, resolutely embarked on a road of exploring new and practical control technology. On the basis of successively inventing nonlinear tracking differentiator, nonlinear PID and extended state observer, ADRC was formally proposed in 1998. The birth of this achievement breaks the disconnection between control theory and control engineering that has lasted for more than half a ce...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 齐晓慧李杰董海瑞冯长辉
Owner PEOPLES LIBERATION ARMY ORDNANCE ENG COLLEGE
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