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Auto-disturbance rejection control method with disturbance compensation and finite time convergence

A technology of active disturbance rejection control and limited time, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of control system performance degradation, reducing the actual performance of actuators, etc.

Inactive Publication Date: 2018-11-16
NANTONG SHIPPING COLLEGE
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Problems solved by technology

For the problem of frequent action of the control system, the literature introduces dead zone control in the control input, the control effect is better, but it is only suitable for discrete control; the easiest way to deal with the control input saturation phenomenon is to reduce the gain of the control system to avoid the saturation phenomenon However, this method reduces the actual performance of the actuator due to the underutilization of the control system capacity, which eventually leads to a decrease in the performance of the control system

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  • Auto-disturbance rejection control method with disturbance compensation and finite time convergence
  • Auto-disturbance rejection control method with disturbance compensation and finite time convergence
  • Auto-disturbance rejection control method with disturbance compensation and finite time convergence

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Embodiment Construction

[0068] In order to make the purpose, technical solution and advantages of the present invention clearer, the following will further describe the implementation of the present invention in detail in conjunction with the accompanying drawings.

[0069] An active disturbance rejection control method with disturbance compensation and finite time convergence disclosed in the present invention includes two parts: disturbance compensation and finite time convergence, wherein:

[0070] Disturbance compensation is to introduce the dead zone and anti-saturation link into the control rate design, and compensate the error disturbance through the observer to suppress the load disturbance. The specific steps are:

[0071] Establish the mathematical model of the control system under load disturbance:

[0072]

[0073] And according to the formula (1), it can be deduced that:

[0074]

[0075]

[0076] Among them, k 1 、k 2 is the coefficient of the fitting function, V d is the em...

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Abstract

The invention mainly provides an auto-disturbance rejection control method with disturbance compensation and finite time convergence, which includes two parts such as disturbance compensation and finite time convergence, wherein the disturbance compensation is to introduce a dead zone and an anti-saturation link into the control rate design and compensate the error disturbance through an observerso as to suppress load disturbance; and the finite time convergence is to design an auto-disturbance rejection error feedback control rate based on finite time convergence.

Description

Technical field: [0001] The invention relates to marine diesel engine control, in particular to an active disturbance rejection control method with disturbance compensation and limited time convergence. Background technique: [0002] Load disturbances caused by complex sea conditions often lead to frequent fluctuations in the ship's control system, which not only increases the wear of the actuators of the control system, but also causes the speed of the diesel engine to oscillate. The change of oil quantity will eventually deteriorate the combustion performance of the diesel engine and increase the emission of pollutants; if it is under extreme load disturbance, even the phenomenon of control input saturation will occur, which will cause problems such as increased overshoot, control lag, and longer adjustment time. In severe cases, the system becomes unstable. At present, the diesel engine speed control law mainly adopts PID control, but the PID control parameters need to c...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王源庆施祝斌王琦袁健安亮巧红宇苏娟
Owner NANTONG SHIPPING COLLEGE
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