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Error correction-based expansion state observer, disturbance-resistant control system and design method

An extended state observation and error correction technology, applied in the field of control, can solve problems such as limiting the performance of active disturbance rejection control and limited estimation ability

Active Publication Date: 2019-11-12
BEIJING TECHNOLOGY AND BUSINESS UNIVERSITY
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  • Summary
  • Abstract
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  • Application Information

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Problems solved by technology

However, the core of ADRC - the limited estimation ability of extended state observer is the key to limit the performance improvement of ADRC

Method used

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  • Error correction-based expansion state observer, disturbance-resistant control system and design method
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  • Error correction-based expansion state observer, disturbance-resistant control system and design method

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Embodiment Construction

[0051] Attached below Figure 1-3 Specific embodiments of the present invention will be described in detail.

[0052] figure 1It is a structural block diagram of the anti-disturbance control system of the present invention. The control system includes an extended state observer (ECESO) based on error correction, a controller (Controller) and a controlled object (plant). The extended state observer based on error correction is used to generate the system state estimated value of the controlled object according to the control signal and the output signal of the controlled object; the controller is used to generate the system state estimated value according to the given signal r A control input signal for disturbance compensation is included, and the control input signal is applied to the controlled object.

[0053] The anti-disturbance control system is designed as follows:

[0054] Step 1: Design a general linearly extended state observer

[0055] Design a second-order 1-i...

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Abstract

The invention discloses a disturbance-resistant control system. The disturbance-resistant control system comprises an error correction-based expansion state observer, a controller and a controlled object, wherein the expansion state observer is used for generating estimation values of a system state of the controlled object and total disturbance according to a control signal and an output signal of the controlled object, and the controller is used for generating a control signal u comprising disturbance compensation according to the system state estimation value, the total disturbance estimation value and a setting value r, and inputting the control signal u into the controlled object.

Description

technical field [0001] The invention relates to the field of control technology, especially an anti-disturbance control technology in advanced control technology, and specifically relates to a design method of an extended state observer based on error correction and an anti-disturbance control system. Background technique [0002] Active disturbance rejection control has been widely concerned and applied due to its strong anti-disturbance ability and less dependence on model information. However, the core of ADRC—the limited estimation ability of extended state observer is the key to limit the performance improvement of ADRC. [0003] Therefore, the present invention proposes an extended state observer design method based on error correction and an anti-disturbance control system, which can improve the estimation ability of the observer, reduce the estimation error, and enhance the observer without introducing nonlinearity. Ability to estimate time-varying disturbances. C...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 魏伟夏鹏飞左敏
Owner BEIJING TECHNOLOGY AND BUSINESS UNIVERSITY