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Active-disturbance-rejection control structure construction method

A technology of active disturbance rejection control and construction method, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as limiting the engineering application of active disturbance rejection control, and achieve improved robustness and disturbance suppression performance , Improve the effect of reliability and practicability

Active Publication Date: 2017-07-14
XIAMEN UNIV OF TECH
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, when the object has non-minimum phase characteristics, the disturbance compensation of traditional active disturbance rejection control will cause positive feedback in the system loop. Bandwidth and object gain parameters
From the perspective of disturbance suppression effect, although ADRC can realize step disturbance without static error suppression by selecting appropriate controller parameters, but for slope disturbance, no matter how the system parameters are adjusted, steady-state error always exists, which limits The engineering application of active disturbance rejection control

Method used

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Examples

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example 1

[0058] Example 1: This example is the practical application of the present invention on motor speed control, and the application effect of the present invention is verified through the speed control of a DC motor. image 3 It is an active disturbance rejection control system for DC motor speed regulation. It consists of a DC motor, a PWM module, a driver, an active disturbance rejection controller, and a speed measurement module. Among them, the encoder is installed on the brushed DC motor, the encoder pulse signal enters the speed measurement module, and the speed measurement module outputs the speed (rev / s) of the motor rotation; the set speed and the actual speed of the motor enter the ADRC controller to generate The duty cycle output generates PWM; the driving device gives the motor an operating voltage under the control of the PWM pulse to make the motor run.

[0059] The transfer function model of the motor is obtained through identification

[0060]

[0061] Adopt ...

example 2

[0064] Example 2: Given an uncertain system

[0065]

[0066] The system contains minimum phase and non-minimum phase, and the relative order of the system may change. Choose parameter ω c = 2, ω o =28.9164,b 0 =11.6793 is used as the ADRC control parameter. When the step response t = 20s, add the slope disturbance input.

[0067] Select ρ=-1, ρ=1 and ρ=0 to test the step response and slope disturbance suppression control. Its control effects are as follows Figure 5 , 6 and 7. It can be seen that no matter whether the system is in the minimum phase state or not in the minimum phase state or the relative order of the system changes, the active disturbance rejection control structure constructed according to the present invention can realize the static-difference-free suppression of the slope disturbance.

[0068] In a word, the ADRC structure constructed according to the present invention has a simple structure and excellent effect, so that the ADRC technology can b...

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Abstract

The invention relates to an active-disturbance-rejection control structure construction method. The method includes the following steps of 1) adding an output feedback integration controller on a conventional active-disturbance-rejection control structure including a feedback controller C(s) / s and a preposed filter F(s) and satisfying the relations in the description; 2) designing an n+1 order full-dimensional expansion state observer for the n-order object under the conventional active-disturbance-rejection control structure; 3) obtaining the gain of the full-dimensional expansion state observer by means of the pole arrangement; and 4) constructing a new active-disturbance-rejection control law by carrying out the pole arrangement to the output feedback integration controller under the full-dimensional state feedback effect. The experimental and simulation results show that the active-disturbance-rejection control structure constructed according to the invention realizes the no-static control of the slope disturbance suppression, and also improves the effect of the step interference suppression, and the active-disturbance-rejection control structure provided has strong robustness and no-static slope disturbance suppression ability, and enhances the engineering practical value of active-disturbance-rejection control.

Description

technical field [0001] The invention belongs to the technical field of industrial automation, and in particular relates to a construction method of an active disturbance rejection control structure. Background technique [0002] In actual industrial production, the control system is often affected by various external disturbances, which are manifested as slope disturbance forces in the mechanical system. Dynamic pressure, power system load linear increase, etc.; in thermal system, it can be expressed as a linear increase in ambient temperature; in process control, it can be expressed as a linear increase in the quality deviation of the supply fluid, etc. The existence of slope disturbance makes the operating point of the system drift, affects the control performance, and even causes the system to be unstable. With the continuous improvement of the performance and precision requirements of the control system in modern industry, it is of great importance and significance to d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 刘瑞娟聂卓赟郭东生陈玉成
Owner XIAMEN UNIV OF TECH
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