Improved ladrc linear active disturbance rejection control system and parameter tuning method

A linear active disturbance rejection and active disturbance rejection controller technology, applied in the field of automation, can solve the problems of unknown and time-varying control variable gain b, difficulty in obtaining control object parameters, etc., so as to avoid parameter meanings and debugging process being unclear, process simple effect

Active Publication Date: 2021-06-25
北京品德技术有限公司
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Problems solved by technology

[0004] 1) The parameters of the control object are difficult to obtain. In theory, the n-order ADRC controls the n-order object at b 0 = b, the ideal effect can be obtained, but the controlled variable gain b of the controlled object may be unknown and time-varying, how to find a 0 The parameter tuning method when ≠b has always been a difficult point
[0005] 2) The controlled object may be n-order, or it may be a distributed parameter object, which is an infinite order, and the first-order ADRC or second-order ADRC is mostly used in the field, and the low-order ADRC is used to control the high-order controlled object. b Even if it is determined, it cannot with b 0 =b to tune parameter b 0 , extensive simulations show that the parameter b of the low-order ADRC 0 be greater than the control gain b of the higher-order object

Method used

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  • Improved ladrc linear active disturbance rejection control system and parameter tuning method
  • Improved ladrc linear active disturbance rejection control system and parameter tuning method
  • Improved ladrc linear active disturbance rejection control system and parameter tuning method

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Embodiment 1

[0058] A kind of improved LADRC linear active disturbance rejection control system of the present embodiment, such as figure 1 As shown, including the controlled object and the ADRC controller, the ADRC controller includes a tracking differentiator, an extended state observer and a linear error feedback control law;

[0059] The input to the tracking differentiator is v 0 , the output is v i , i=1,2,...,n;

[0060] The output of the extended state observer is z i , i=1, 2, ..., n, n+1;

[0061] Track the output v of the differentiator i , i=1, 2,..., n and the output z of the extended state observer i , i=1, 2,..., n is used as the input e of the linear error feedback control law after subtraction and comparison i , i=1,2,...,n;

[0062] The output u of the linear error feedback control law 0 and the output z of the extended state observer i , i=n+1, 1 / b after subtraction comparison 0 Multiplier gain, to get the intermediate control amount The intermediate control ...

Embodiment 2

[0080] Based on the improved LADRC linear active disturbance rejection control system in Embodiment 1, its parameter setting method includes the following specific steps:

[0081] 1) Perform control logic configuration on the control system of the controlled object based on the ADRC; the control system of the controlled object in this step includes a DCS control system, a PID control system or a control system composed of other microprocessor chips .

[0082] 2) On-site use the soaring curve method to obtain the steady-state gain K of the controlled object, the time parameter T of the approximate n-order inertial or pure delay system, and the open-loop adjustment time t s1 .

[0083] 3) Set the control variable gain b of the controlled object in the control logic configuration 0 The initial value of , the bandwidth ω of the expanded state observer o The initial value of , the bandwidth ω of the error feedback control law c The initial value of and the fine-tuning compensat...

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Abstract

The invention discloses an improved LADRC linear active disturbance rejection control system and a parameter setting method. The parameter setting method has clear debugging rules and physical meanings, can better meet the debugging habits of on-site control engineers, and avoids problems caused by empirical setting formulas. The meaning of the parameters and the debugging process are not clear. The invention is applicable to the field of industrial process control, especially to the process control fields of thermal power plants, motors, petrochemical industry, metallurgical iron and steel, and automatic driving of automobiles.

Description

Technical field: [0001] The invention belongs to the technical field of automation, and in particular relates to an improved LADRC linear active disturbance rejection control system and a parameter setting method. Background technique: [0002] Active disturbance rejection control technology (active disturbance rejection control, ADRC) is a new type of control technology proposed by researcher Han Jingqing on the classic cybernetics and modern cybernetics through continuous exploration and reflection, using special nonlinear effects, see reference [ 1]. It has a good control effect on nonlinear systems (time-varying parameters, strong coupling, and uncertain disturbances). However, due to the complex structure of the active disturbance rejection controller, and the need to tune many parameters, it is difficult and other problems. Professor Gao Zhiqiang proposed a linear The Active Disturbance Rejection Controller (LADRC) simplifies the structure of the controller, reduces t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 万晖吕品王中胜武伟朱建在孙明
Owner 北京品德技术有限公司
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