Improved type active disturbance rejection controller

Abstract

The invention discloses an improved type active disturbance rejection controller. A tracking differential controller performs arrangement transition on an input current given signal iq<*>, and obtaining a smooth transition signal; comparing the output signal of the tracking differential controller with an output signal Z21 of an expansion state observer, and obtaining a system error e; using the system error as the input signal of a novel nonlinear state error feedback control rate; expanding total disturbance of the system to a state, observing the total disturbance by means of a novel expansion state observer and performing real-time compensation, and obtaining current output iq of a controlled object. The active disturbance rejection controller improves smoothness at the periphery of an original point of a traditional active disturbance rejection controller and settles a problem of high-frequency flutter of the active disturbance rejection controller. Through simulation in an MATLAB-Simulink environment, the improved type active disturbance rejection controller has advantages of relatively high speed, relatively high stability, relatively high robustness, and high practical value in engineering, etc.

Description

technical field [0001] The invention relates to an active disturbance rejection controller for a current loop of an AC servo system of a permanent magnet synchronous motor, in particular to an improved active disturbance rejection controller. Background technique [0002] The traditional PID controller has a simple structure and easy parameter adjustment, so it has been widely used in industrial control. However, when the parameters of the system object vary in a large range or the nonlinear effect is significant, its application is limited, and through the linear The way of combination often causes the contradiction between the rapidity of the system and the overshoot. [0003] Active Disturbance Rejection Controller Active Disturbance Rejection Controller, although ADRC has shown its strong robustness and adaptability, but there are still many deficiencies, such as the unresolved high-frequency flutter phenomenon near the origin, and insufficient ADRC capability. [0004]...

AI Technical Summary

Problems solved by technology

If the error changes within the linear segment, the effect of oscillation is eliminated. However, if the value of δ is small, the sudden change of the derivative will cause the system performance to deteriorate, and high-frequency flutter cannot be avoided, and even greater oscillation will be generated.

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