Improved first-order linear active disturbance rejection control system and parameter setting method thereof

A linear active disturbance rejection and active disturbance rejection controller technology, applied in the field of automation, can solve problems such as poor control of second-order underdamped objects, avoid parameter meanings and unclear debugging processes, meet debugging habits, and clarify debugging rules and physical effects

Pending Publication Date: 2021-10-01
北京品德技术有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This is the fatal shortcoming of the first-order LADRC, which cannot control the second-order underdamped objects well.

Method used

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  • Improved first-order linear active disturbance rejection control system and parameter setting method thereof
  • Improved first-order linear active disturbance rejection control system and parameter setting method thereof
  • Improved first-order linear active disturbance rejection control system and parameter setting method thereof

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Embodiment 1

[0055] An improved first-order linear active disturbance rejection control system of this embodiment, such as figure 1 As shown, including the controlled object and the ADRC controller, the ADRC controller includes an extended state observer and a linear error feedback control law, and the output of the extended state observer is z i , i=1, 2;

[0056] set value v 0 and the output z of the extended state observer 1 After doing the subtraction comparison, it is used as the input of the linear error feedback control law;

[0057] The output u of the linear error feedback control law 0 and the output z of the extended state observer 2 , after doing the subtraction comparison by 1 / b 0 Multiplier gain, to get the intermediate control amount The intermediate control Divide into two roads, one road passes through b 0 ×G 1 The multiplication gain is used as the first input signal of the extended state observer; the other path passes through k b After multiplying the gain,...

Embodiment 2

[0060] The further design of this embodiment is: in this example, the controlled object is a linear object with second-order underdamped delay, and the expression is:

[0061]

[0062] in, ξ<1

[0063] Assume but

[0064] In the formula, y is the output of the controlled object; u is the input of the controlled object; T is the inertia time constant of the controlled object, ξ is the damping coefficient of the controlled object, ξn is the oscillation frequency of the controlled object, τ is the delay time of the controlled object, b is the controlled variable gain of the controlled object; b 0 is the coarse adjustment compensation factor of the control volume gain; is the intermediate control quantity, is the modified object transfer function.

Embodiment 3

[0066] The further design of this embodiment is: in this example, the extended state observer is a second-order extended state observer, and for the modified object transfer function Construct an extended state observer, the expression is:

[0067]

[0068] in ω o is the bandwidth of the extended state observer, and ζ is the damping coefficient of the extended state observer.

[0069] In the formula, z i is the output of the extended state observer, i=1, 2; β i is the parameter of the extended state observer, i=1, 2, β 1 = 2ζω 0 ,

[0070] The compensation reference model above G 1 is a first-order inertial system or a second-order inertial system;

[0071] If G 1 is a first-order inertial system, T 1 To compensate the time parameter of the reference model, T 1 = a / ω c , ω c is the bandwidth of the linear error feedback control law, and the value range of a is [0.5,2]. Preferably a=1.

[0072] If G 1 is a second-order inertial system, T 1 To compens...

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Abstract

The present invention provides an improved first-order linear active-disturbance-rejection control system and the parameter setting method thereof, the control effect of the control system on an underdamped second-order control object is far better than that of an existing first-order linear active-disturbance-rejection control system and is close to that of a second-order linear active-disturbance-rejection control system; and compared with a second-order linear active disturbance rejection control system, the structure of the control system is simpler, and the number of related parameters needing to be set is smaller. The parameter setting method disclosed by the invention has a clear debugging rule and physical significance, can better meet the debugging habit of field control engineers, and avoids the problem that the parameter significance and the debugging process are not clear due to an empirical setting formula.

Description

Technical field: [0001] The invention belongs to the technical field of automation, and in particular relates to an improved first-order linear active disturbance rejection controller and a parameter setting method thereof. Background technique: [0002] 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 references for details [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 the parameters that need to ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/25257
Inventor 吕品訾虎王中胜武伟万晖孙明阚健李程旭
Owner 北京品德技术有限公司
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