A Modular Active Disturbance Rejection Control Method for Angular Rate Proportional-Integral Feedback
A technology of active disturbance rejection control and integral feedback, applied in the direction of adaptive control, general control system, control/regulation system, etc., to achieve the effect of low feasibility
Active Publication Date: 2020-06-23
ACAD OF MATHEMATICS & SYSTEMS SCIENCE - CHINESE ACAD OF SCI
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Problems solved by technology
For example, in the angular rate control problem of the aircraft, a series of internal and external environments of the aircraft, such as the aging of the equipment of the flight instrument, the large-scale changes of the aircraft's flight altitude, air pressure, and temperature, and the interference of natural factors such as wind, light, and electricity in the flight environment, etc. Uncertainty changes brought about by these factors bring huge challenges to the angular rate control link that only relies on the inherent proportional-integral feedback control method
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[0063] In order to test the applicability of the modular ADRC method for proportional-integral feedback control of rigid body angular rate, we conduct simulation experiments. Consider a rigid body angular rate control system based on proportional-integral feedback control:
[0064]
[0065] And the following three types of typical unknown uncertainty dynamics f(x,t):
[0066]
[0067] The first case is a nominal control system, which does not contain internal uncertain dynamics and external disturbances; in the second case, the unknown uncertain dynamics is a typical external disturbance: step disturbance; the third unknown uncertainty The dynamics are the composite of nonlinear system dynamics and periodic external disturbances.
[0068] The control input gain of the rigid body angular rate control system and the proportional feedback gain and integral feedback gain of the existing proportional-integral feedback control input are:
[0069] b=5,k p = 1,k i =0.05. (12...
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The invention provides a modular active disturbance rejection control method aiming at proportion-integral feedback of an angular rate. The method includes four steps: 1, establishing a tracking errordynamic model of the rigid body angular rate in an equivalent manner according to a rigid body angular rate control system controlled based on proportion-integral feedback; 2, designing a following "total uncertainty" estimator according to the rigid body angular rate control system controlled based on the proportion-integral feedback and the angular rate tracking error dynamic model obtained instep 1 to obtain the "total uncertainty" in the rigid body angular rate control system; 3, designing parameters of the "total uncertainty" estimator (5) designed in step 2; and 4, designing modular active disturbance rejection control input with "total uncertainty" compensation by employing an estimation value, shown in the description and obtained by the "total uncertainty" estimator (5) in step2, of the "total uncertainty" of the rigid body angular rate control system.
Description
technical field [0001] The invention belongs to the design field of rigid body angular rate control methods, and specifically relates to a proportional-integral feedback control method and a modularized self-disturbance rejection control method of a rigid body angular rate control system. Background technique [0002] The proportional-integral feedback control method is a very classic and effective feedback control method for first-order control systems, and has been widely used in the actual industrial control system process. The literature W.L.Bialkowski, "The controlhandbook," New York, 1996 mentioned that 98% of the control loops use a single-input and single-output proportional-integral feedback control method. Control engineers often have rich experience in parameter adjustment of the proportional-integral feedback control method, and have mastered more theoretical methods. Therefore, the parameters of the proportional-integral feedback control method that have been u...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 薛文超陈森黄一
Owner ACAD OF MATHEMATICS & SYSTEMS SCIENCE - CHINESE ACAD OF SCI