Method for setting and order reducing of parameters of active disturbance rejection controller based on PID controller

Abstract

The invention provides a method for setting and order reducing of parameters of an active disturbance rejection controller based on a PID controller. In the method, a two-order RADRC control structureis adopted, the ideal parameters of the PID controller are approached through an RADRC feedback controller transmission function, it is ensured that the controller and the function have similar disturbance rejection and robustness according to the same zero point of the controller and the function, and therefore the two-order RADRC parameters set in the bandwidth form are obtained. Analyzing anddesigning are conducted in a frequency domain according to the equivalent compound structure of the two-order RADRC, and therefore project planners can better accept; the method for setting the parameters of the two-order RADRC on the basis of the bandwidth is simple and visual. The RADRC controller set through the method can have good controllability and is high in robustness and good in disturbance rejection, an adjustment can be conveniently made according to the requirements for object actual running state and controllability, and a model is high in adaptability and operability.

Description

technical field [0001] The invention belongs to the field of control theory and application, and in particular relates to a design method of reduced-order active disturbance rejection control. Background technique [0002] Active Disturbance Rejection Control (ADRC for short) is based on the in-depth analysis of the working principle of classic PID control by Han Jingqing, a researcher at the Institute of Systems, Chinese Academy of Sciences. , a new control technique proposed. The core idea of ​​ADRC is to take the internal uncertainty of the system (steady or time-varying, linear or nonlinear) and the external uncertainty (external disturbance) together as the "total disturbance", and construct the extended state observer pair " Total disturbance” is estimated and compensated in real time, so as to obtain strong anti-disturbance ability. This method does not need to directly measure the external disturbance, nor does it need to know the law of the disturbance in advance....

AI Technical Summary

Problems solved by technology

PID controllers are mostly used in actual industrial control, so at present, RADRC still lacks a bandwidth-based parameter tuning method based on PID control

Images