Design method of ADRC controller with variable coefficient and ADRC controller for crane

Abstract

The invention discloses a design method of a variable coefficient active-disturbance-rejection controller and the active-disturbance-rejection controller of a crane. The method comprises the followingspecific steps: S300, establishing a mathematic model of a controlled object and determining the order of the controlled object; S301, determining the expanded state quantity needed to be configuredaccording to the controlled volume quantity and then designing corresponding expanded state observers according to the determined order of the controlled object; and S302, designing a linear active-disturbance-rejection controller control law of a variable weight coefficient by means of output of the expanded state observers to control a plurality of controlled objects. The design method providedby the invention can estimate uncertain disturbance in the control process effectively, compensate the uncertain disturbance in real time, is insensitive to change of system parameters and has very high robustness.

Description

technical field [0001] The invention belongs to the technical fields of flexible servo control and crane control, and in particular relates to a design method of a variable coefficient ADRC controller for an underactuated system and a crane ADRC controller. Background technique [0002] The control problem of underactuated systems has been widely concerned by the control community. The difficulty lies in that the number of available control variables is less than the number of variables to be controlled, that is, the degree of freedom of the system is greater than the number of control variables. As an indispensable part of the modern industrial field, the crane system is a typical underactuated system, which is widely used in modern factories, bulk cargo terminals, container yards and warehouse scheduling operations. As a typical underactuated system, the crane system has degrees of freedom including the position of the trolley and the swing angle of the suspended weight (l...

AI Technical Summary

Problems solved by technology

[0002] The control problem of underactuated systems has always been widely concerned by the control community. The difficulty is that the number of available control variables is less than the number of variables that need to be controlled, that is, the degree of freedom of the system is greater than the number of control variables

However, most methods need to be based on precise modeling of the controlled object, the analysis and calculation process is complex, and the actual mathematical model often has large variables, so it is difficult to implement in engineering

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