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Self-anti-interference controller design method suitable for non-minimum phase system

An active disturbance rejection controller, non-minimum phase technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem that the relationship between controller parameters and control performance is not clear enough, difficult to popularize and apply in industrial control systems, System instability and other problems, to achieve the effect of ensuring stability, simple structure, and easy implementation

Active Publication Date: 2019-08-23
HUAQIAO UNIVERSITY
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Problems solved by technology

For non-minimum phase systems, conventional active disturbance rejection controllers tend to make the system unstable, and the relationship between controller parameters and control performance is not clear enough, so it is difficult to popularize and apply in industrial control systems

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  • Self-anti-interference controller design method suitable for non-minimum phase system
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  • Self-anti-interference controller design method suitable for non-minimum phase system

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Embodiment Construction

[0047] A method for designing an active disturbance rejection controller suitable for a non-minimum phase system, comprising the following steps:

[0048]1) A class of stable non-minimum phase system model G(s) is given;

[0049] That is, the pole of the object is located in the left half plane (the object is stable) but there is a zero point in the right half plane. According to the relative order r.deg[G] of the system, select the closed-loop reference model H R (s) and the relative order of the predistorter K(s), satisfying r.deg[K]+r.deg[G]=r.deg[H R ], so that G(s)K(s) is at zero frequency with H R (s) are approximately equal, G(j0)K(j0)≈H R (j0). In ADRC, The parameter is the gain compensation located in front of the controlled object, with In the prior art, this parameter is not given The rational selection method in the non-minimum phase system, the relationship between this parameter and the stability is also unclear. In the present invention, this paramet...

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Abstract

The invention discloses a self-anti-interference controller design method suitable for a non-minimum phase system. The method comprises the following steps that: 1) giving one category of stable non-minimum phase system models G(s); 2) arranging a closed loop reference model, wherein the transfer function of the closed loop reference model is HR(s); 3) taking the HR(s) as a target to construct anESO (Extended State Observer); 4) carrying out the frequency domain estimation of system total disturbance dK+f; 5) constructing a disturbance compensation control rate; 6) giving a stability judgmentcondition; 7) designing the parameters of K(s); and 8) calculating a time constant [Tau], in addition, selecting a [Tau] value in a stable interval that [Tau] is greater than [Tau] and less than infinite, realizing the ESO, regulating the [Tau], and realizing expected performance. The invention gives the self-anti-interference controller design method suitable for the non-minimum phase system, puts forward a new anti-interference control rate, has a simple structure and is easy in implementation.

Description

technical field [0001] The invention relates to an industrial process control system and a motion control system, belongs to the field of anti-disturbance control technology, and relates to a design method of an ARC controller suitable for non-minimum phase systems. Background technique [0002] In actual industrial production, industrial systems are often affected by a variety of disturbances, one is internal disturbances, which are caused by the mismatch between the physical model and the actual system, and the other is external disturbances, which are mainly external disturbances to the control system. Modern industrial production and manufacturing processes have continuously improved the performance and precision requirements of the control system. It is of great importance and significance to realize non-static regulation and tracking control by designing an anti-disturbance controller. [0003] Non-minimum phase systems widely exist in industrial objects, such as flex...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 聂卓赟朱超郑义民詹瑜坤
Owner HUAQIAO UNIVERSITY