Optimized parameterization of active disturbance rejection control

Abstract

A system for tuning a control system uses a simplified tuning procedure to generate robustly stabilizing tuning parameters that reduce or eliminate undesired system oscillations in the presence of long system dead times or phase lag. A control method is used to establish a relationship between the plant parameters of a controlled system and the tuning parameters of a parameterized active disturbance rejection controller determined to be optimal or substantially optimal for the control system. The plant parameters include the system gain, the time constant, and dead time. Corresponding tuning parameters include the controller bandwidth and a system gain estimate. Using the system gain estimate as a tuning parameter can alleviate the influence of large dead times or phase lags on system response. Once established, these fixed relationships can be used to determine suitable tuning parameters for specific motion or process control applications based on the system gain and dominant constraints of the system.

Description

technical field [0001] In general, the present disclosure relates to motion control, and in particular, to automatically determining tuning parameters for a control system given the system gains and prevailing constraints of the system. Background technique [0002] Many automation applications employ motion control systems to control machine position and speed. Such motion control systems typically include one or more electric motors or other motion devices operating under the direction of a controller that sends position or velocity control commands to the motors according to a user-defined control algorithm. Some motion control systems operate in a closed-loop configuration whereby the controller instructs the motor to move to a target position or transition to a target speed (desired state) and receives feedback information indicative of the actual state of the motor. The controller monitors this feedback information to determine whether the motor has reached a target p...

AI Technical Summary

Problems solved by technology

[0005] Adding to these difficulties in achieving optimal controller tuning, some mechanical systems or processes are designed such that there is a considerable delay between a control command issued by the controller and the corresponding system response, this delay is called dead time

Systems with high dead time or phase lag often experience unwanted oscillations in response to disturbances or set point changes, resulting in reduced performance and making tuning such systems more difficult

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