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Active disturbance rejection control robust guaranteed cost design and parameter setting method

A technology of active disturbance rejection control and parameter tuning, which is applied to electric controllers, controllers with specific characteristics, etc., and can solve the problems of difficult work and huge design calculation

Active Publication Date: 2017-05-31
HUAQIAO UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Output feedback guaranteed cost control is an effective design method when the system state is not completely known, but the complexity of its design and the huge amount of calculation make it very difficult to work in this area, and further research is needed

Method used

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  • Active disturbance rejection control robust guaranteed cost design and parameter setting method
  • Active disturbance rejection control robust guaranteed cost design and parameter setting method
  • Active disturbance rejection control robust guaranteed cost design and parameter setting method

Examples

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Embodiment 1

[0114] Embodiment 1: The following is a numerical application example of the present invention, which is illustrated for a simulation example of an uncertain system, and the steps are as follows:

[0115] 1. State space model of uncertain linear system

[0116] Consider the following uncertain system:

[0117]

[0118] where A o =[0,1;-80,-20],B o = [0; 2.14], C o = [1; 0], M = [0.3, 0; 0, 1], E(t) = [sin5t, 0; 0, sin5t], N 0 =[0,0;0,0],N 1 =[0.2;-1.2]. At this time, the system is a second-order object, and the transfer function of the uncertain system is:

[0119]

[0120] It should be pointed out that, under the uncertainty condition in this example, when a>0 is the minimum phase system, and when a<0 is the non-minimum phase system.

[0121] 2. Establish a full-dimensional extended state observer

[0122] First, establish the extended state space model of the system, and select the system state variable group x 1 =y, x 3 =f, where f is an equivalent disturb...

Embodiment 2

[0168] Embodiment 2: The following is a practical application example of the present invention, and the practical application of the method of the present invention is verified through the speed control of a DC motor.

[0169] image 3 Shown is a schematic diagram of the application of the ADRC method including the method of the present invention in the motor speed control. The device is composed of DC motor, PWM generation and drive, active disturbance rejection controller, speed calculation and model identification. Among them, the encoder is installed on the brushed DC motor, the output pulse signal enters the speed calculation module, and the speed calculation module outputs the speed of the motor rotation (rev / s); after the given speed is subtracted from the actual speed of the motor to obtain the speed error, the automatic The anti-disturbance controller outputs the duty ratio to the PWM generator and the driving device; the driving device supplies the motor with the wo...

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Abstract

The invention discloses an active disturbance rejection control robust guaranteed cost design and parameter setting method. The method includes steps: 1, establishing an uncertain linear system state space model; 2, establishing a full-dimensional extension state observer, to be more specific, establishing a system extension state space model, and establishing the full-dimensional extension state observer; 3, establishing a state feedback control structure; 4, analyzing system robust stability and robust performance upper bound; 5, controlling system parameter optimization. The method is applicable to active disturbance rejection controllers of minimum phase systems and non-minimum phase systems, and optimal control performances under given performance indexes of controller systems can be guaranteed under uncertainty conditions.

Description

technical field [0001] The invention relates to the technical field of active disturbance rejection control, in particular to a method for robust guaranteed performance design and parameter setting of active disturbance rejection control. Background technique [0002] On the basis of inheriting the advantages of classic PID not relying on the object model, ADRC technology is a new type of controller formed by improving the inherent defects of classic PID fast and overshooting. It is widely used in the control of uncertain objects. Active disturbance rejection controller has good dynamic characteristics, high control precision, and strong robustness (the so-called "robustness" refers to the control system's characteristics of maintaining certain other performances under certain (structure, size) parameter perturbations) , the algorithm is simple and the amount of calculation is small, but there are also limitations. When the relative order of the object changes, the traditio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 聂卓赟马亦婧朱海燕张兵郭东生
Owner HUAQIAO UNIVERSITY
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