A Construction Method of Active Disturbance Rejection Control Structure for Motor Speed ​​Regulation System

A technology of active disturbance rejection control and active disturbance rejection controller, which is applied in the direction of control/regulation system, adaptive control, general control system, etc., can solve the problems of limiting the engineering application of active disturbance rejection control, and achieve the improvement of robustness and Disturbance suppression performance, effects of improving reliability and practicality

Active Publication Date: 2020-04-10
XIAMEN UNIV OF TECH
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  • Abstract
  • Description
  • 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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  • A Construction Method of Active Disturbance Rejection Control Structure for Motor Speed ​​Regulation System
  • A Construction Method of Active Disturbance Rejection Control Structure for Motor Speed ​​Regulation System
  • A Construction Method of Active Disturbance Rejection Control Structure for Motor Speed ​​Regulation System

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example 1

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

[0059] After identification, the transfer function model of the motor is obtained ...

example 2

[0064] Example 2: Given an uncertain system

[0065]

[0066] The system includes minimum phase and non-minimum phase, and the relative order of the system may change. Select parameter ω c = 2, ω o = 28.9164, b 0 =11.6793 as the active disturbance rejection control parameter. When the step response t=20s, the ramp disturbance input is added.

[0067] Three cases of ρ=-1, ρ=1 and ρ=0 are selected for the step response and slope disturbance suppression control test. The control effects are as follows Figure 5 , 6 And 7 are shown. It can be seen that regardless of whether the system is in a minimum phase condition, a non-minimum phase condition, or the relative order of the system changes, the active disturbance rejection control structure constructed according to the present invention can achieve no static error suppression of slope disturbance.

[0068] In short, the active disturbance rejection control structure constructed according to the present invention has simple structure ...

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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 specifically 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 appear as slope disturbance power in the mechanical system. For example, the aircraft attitude control system is subjected to continuously increasing wind shear stress, and the offshore platform vibration control system is subjected to continuously increasing water stress. Dynamic pressure, linear increase of power system load, 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 quality deviation of the supplied fluid. The existence of slope disturbance causes the system operating point to drift, affects control performance, and even causes system ...

Claims

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Application Information

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Patent Type & Authority Patents(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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