Design method of auto disturbance rejection controller with anti-integral compensation function

A technology of active disturbance rejection controller and design method, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of actuator saturation, small estimation error, etc., and achieve the effect of good dynamic performance

Active Publication Date: 2018-09-04
TIANJIN UNIV
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Problems solved by technology

In order to obtain a small estimation error, the parameters of the linear active disturbance rejection controller are usually selected very large, so the actuator saturation phenomenon will occur

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  • Design method of auto disturbance rejection controller with anti-integral compensation function
  • Design method of auto disturbance rejection controller with anti-integral compensation function
  • Design method of auto disturbance rejection controller with anti-integral compensation function

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Embodiment Construction

[0054] The present invention will be further described below in conjunction with the accompanying drawings.

[0055]The controller design solution adopted in the present invention is to use anti-integral compensation to improve the dynamic performance of the closed-loop system under the condition of actuator saturation. The specific implementation method is as follows: first establish a nonlinear system model, which is in the form of an integral chain, and convert it into a state space model, then design a corresponding extended state observer with anti-integral compensation, and design a linear state on this basis Feedback control law to complete the control task of the system. In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described below from several aspects such as the establishment of ADRC with anti-integral compensation, design principles, and solution methods.

[0056] The design m...

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Abstract

The invention discloses a design method of an auto disturbance rejection controller with an anti-integral compensation function. The method includes the following steps that: a nonlinear system modelis established; a linear auto disturbance rejection controller with an anti-integral compensation function is designed for the nonlinear system model, wherein the linear auto disturbance rejection controller is composed of an extended state observer and linear feedback; and the parameters of the anti-integral compensation auto disturbance rejection controller are determined by solving a linear matrix inequality. According to the design method of the invention, the anti-integral compensation function is applied to the design of the auto disturbance rejection controller, and therefore, the performance degradation of the control system caused by actuator saturation can be offset, and the stability of a closed loop system using auto disturbance rejection control can be ensured.

Description

technical field [0001] The invention belongs to the field of controller design, more specifically, relates to a design method of an active disturbance rejection controller with anti-integral compensation. Background technique [0002] Although many advanced control methods have been proposed and applied in some specific practices, PID control still plays a key role in industrial applications. The biggest reason why control algorithms relying on accurate models cannot be widely used is that it is difficult or expensive to obtain accurate models. Uncertainty is one of the challenging problems faced by control. In order to solve this problem, Professor Han Jingqing proposed Active Disturbance Rejection Control. The core idea is to regard the internal uncertainty and external disturbance of the system as the total disturbance, and use the expansion state observation The controller performs real-time estimation, and then compensates it through the feedback control law to dynamic...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王一晶张超洋左志强
Owner TIANJIN UNIV
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