Variable bandwidth active disturbance rejection control method

Abstract

The invention discloses a variable bandwidth active disturbance rejection control method, which comprises the following steps of: designing a linear extended state observer with a fixed bandwidth fora first-order controlled object; constructing a variable bandwidth extended state observer on the basis of the linear extended state observer with the fixed bandwidth; establishing an active disturbance rejection control law, and constructing a variable bandwidth active disturbance rejection controller based on the variable bandwidth extended state observer; and adjusting parameters of the variable bandwidth active disturbance rejection controller until a satisfactory control effect is obtained. According to the variable bandwidth active disturbance rejection control method of the invention, the bandwidth of the observer can be adjusted in real time according to the change of the estimation deviation, so as to improve the estimation capability of the observer for time-varying disturbance or sudden disturbance, reduce the estimation deviation, and improve the control precision.

Description

technical field [0001] The invention belongs to the technical field of control, and in particular relates to an extended state observer based on a variable bandwidth mechanism and a reactive control method based on the observer. Background technique [0002] Linear Active Disturbance Rejection Control (ADRC) technology has attracted extensive attention at home and abroad in recent years due to its advantages such as low dependence on plant model information and strong anti-disturbance capability. At the same time, the proposed bandwidth parameterization method further reduces the number of adjustable parameters and accelerates the popularization and application of ADRC in control engineering. However, the linear extended state observer, which is the core of the linear ADRC technology, has insufficient ability to estimate time-varying disturbances, which has become the key to restricting the performance of the linear ADRC. [0003] A fixed-bandwidth linear extension state ob...

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Problems solved by technology

[0005] Aiming at the problem that the fixed-bandwidth observer cannot effectively estimate the time-varying disturbance, the present invention proposes a variable-bandwidth linear active disturbance rejection control method to reflect the important performance index of the real-time estimation effect of the observer—the estimated deviation is used as an indicator of the bandwidth adjustment of the observer in accordance with

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