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

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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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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