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

A linear active disturbance rejection and parameter tuning technology, which is applied in the control field and can solve problems such as clear requirements for robust performance.

Inactive Publication Date: 2018-11-30
NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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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

Method used

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

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0163] The transfer function of the given controlled object is

[0164]

[0165] The reduced-order model obtained by the method described in step S5 is

[0166]

[0167] According to the tuning formula described in (25), the controller parameters are obtained as:

[0168] b=4.4087, ω c = 3.3113, ω o =3.0108

[0169] by attaching figure 1 The shown controller structure simulates the control of the actual controlled object. The system reference input is set as a step signal with an amplitude of 1. After the system is stable, an interference signal with an amplitude of 0.5 is added. The adjustable factors are respectively 1, 1.2 and 0.7, the system tracking and anti-disturbance results are obtained as figure 2 shown.

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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...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李健谭文张彬文
Owner NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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