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Composite Control System Based on Linear Extended State Observer and Its Design Method

A technology of expanded state and compound control, applied in the field of control, which can solve problems such as the performance of hard-to-observe observers

Active Publication Date: 2021-09-14
HIWING TECH ACAD OF CASIC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In addition, the use of nonlinear functions makes it difficult for the system to effectively evaluate the performance of the observer using existing mature analysis and design tools

Method used

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  • Composite Control System Based on Linear Extended State Observer and Its Design Method
  • Composite Control System Based on Linear Extended State Observer and Its Design Method
  • Composite Control System Based on Linear Extended State Observer and Its Design Method

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Embodiment Construction

[0063] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. In the following description, for purposes of explanation and not limitation, specific details are set forth in order to provide a thorough understanding of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details.

[0064] It should be noted here that, in order to avoid obscuring the present invention due to unnecessary details, only the device structure and / or processing steps closely related to the solution according to the present invention are shown in the drawings, and the steps related to the present invention are omitted. Invent other details that don't really matter.

[0065] Embodiments of the present invention will be described below with reference to the drawings.

[0066] A method for designing a composite control...

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Abstract

The invention provides a compound control system based on a linear extended state observer and its design method, including establishing the nominal design model of the controlled object, designing the closed-loop pole of the expected configuration, and designing the low-pass filter G of the feedback measurement channel LP , design linear extension state observer, design state compensation feedback control law, design command feedforward control law and composite control output. Each design link of the present invention does not require complex parameter setting, the design process has clear physical meaning, and the dual requirements for robust performance and robust stability of the closed-loop system can be simultaneously realized through the composite control based on the extended state observer.

Description

technical field [0001] The invention relates to a compound control system based on a linear extension state observer and a design method thereof, which is suitable for the design of a control system with strong environmental interference and object characteristic uncertainty, and belongs to the field of control technology. Background technique [0002] Due to the complex uncertainty of the external environment (external disturbance) and the non-linear characteristics (internal disturbance) of the controlled object in the entire working area, it is necessary to stabilize the control command through effective feedback adjustment during the design process of the control system tracking, and make the system robust against disturbances. For a deterministic system with known controlled characteristics, the response speed of the system can be improved without losing stability by introducing a feedforward loop. [0003] Linear Extended State Observer (LESO) is a new type of state o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 侯营东黄屹王文娟孙晓旭孟祥瑞谢勇巩轶男
Owner HIWING TECH ACAD OF CASIC
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