A kind of active disturbance rejection control method and active disturbance rejection controller

Abstract

The invention discloses an active disturbance rejection control method and an active disturbance rejection controller, which are used to solve the technical problem that when the controller is switched between different control states, the control quantity is easily caused to exceed the limit, thereby affecting the normal operation of the controller. The method includes: S1: Obtaining an initial control amount, performing signal limitation on the initial control amount through a control amount limiting formula to obtain a first control amount; S2: judging whether the first control amount exceeds a control amount limit threshold, and if so, then Execute step S3, if not, directly output the first control amount; S3: Obtain the change amount of the control amount according to the difference between the first control amount and the first control amount output by the previous step of the limiter, And according to the change amount of the control amount, the first control amount of the next step is compensated by an inversion compensation method to obtain a second control amount and output it.

Description

technical field [0001] The invention relates to the technical field of active disturbance rejection control, in particular to an active disturbance rejection control method and an active disturbance rejection controller. Background technique [0002] Active Disturbance Rejection Control (ADRC, Active Disturbance Rejection Control) is developed based on modern control theory on the basis of nonlinear PID to solve complex system control problems such as large inertia, nonlinear, time-varying, and uncertain Methods. [0003] In the actual application of the existing active disturbance rejection control technology, when the output of the control quantity is constrained by the limiter, the control quantity actually acting on the controlled object is not equal to the theoretical control quantity calculated by the controller and ESO, and When the controller switches between different control states, the limit signal is in an unstable state, which may easily cause the control varia...

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Problems solved by technology

[0004] The invention provides an active disturbance rejection control method and an active disturbance rejection controller, which are used to solve the technical problem that when the controller is switched between different control states, the control quantity is easily caused to exceed the limit, thereby affecting the normal operation of the controller

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