Parameter robust setting method for linear active disturbance rejection control (LADRC)

Abstract

The invention relates to the technical field of control, and provides a parameter robust setting method for a linear active disturbance rejection control (LADRC). The method employs a second-order LADRC, a setting formula of controller parameters b, Omega c and Omega o, which conform to robust performance constraint, is obtained by numerical value simulation with regards to a first order plus deadtime (FOPDT), and the method is promoted to an ordinary industrial controlled object. The LADRC set by the method can obtain relatively good control performance, is high in robustness and relativelygood in disturbance resistance; and moreover, an adjustable factor is provided, slight adjustment can be performed according to requirements of control performance of different objects, the model applicability is relatively high, and the operability is good.

Description

technical field [0001] The invention relates to the technical field of control, in particular to a robust tuning method for parameters of a linear active disturbance rejection controller. Background technique [0002] The idea of ​​Active Disturbance Rejection Control (ADRC) appeared around 1995 and was first proposed by Chinese scholar Han Jingqing. On the basis of analyzing PID, Han Jingqing proposed the concept of nonlinear PID, and then summarized and developed the ADRC technology. Its core idea is to regard the internal uncertainties and external disturbances of the system as the total disturbance, and estimate the system state and the total disturbance together through the Extended State Observer (ESO), and then integrate the disturbance into the control law Compensate, so that the system is converted into an integral series object, and the tracking and anti-disturbance goals are achieved through feedback control. The early ADRC adopts nonlinear control strategy, and...

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Problems solved by technology

[0005] The PID controller commonly used in industrial process control has a tuning formula with satisfactory results for the first order plus dead time (FOPDT) object model, such as the common Z-N method, IMC method, SIMC method and AMIGO method. At present, LADRC still lacks a method that uses the object model to directly tune the controller parameters and has clear requirements for robust performance.

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