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

A linear self-disturbance rejection and parameter tuning technology, applied in the field of automation, can solve the problems of too many tuning parameters, cumbersome parameter tuning methods, lack of other problems, and achieve the effect of simplifying the parameter tuning process and shortening the parameter tuning time

Active Publication Date: 2022-04-12
北京品德技术有限公司
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AI Technical Summary

Problems solved by technology

[0003] In the practical application of the first-order linear active disturbance rejection control system, the biggest problem lies in the parameter setting. At present, the parameter setting method for the first-order linear active disturbance rejection control system is relatively complicated, and there are many parameters to be adjusted, and the first-order linear active disturbance rejection control system lacks Research on the parameter tuning method for the delay object of the disturbance rejection control system and the high-order object of the first-order linear active disturbance rejection control system

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

Examples

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Effect test

Embodiment 1

[0063] A first-order linear active disturbance rejection control system in this example, such as figure 1 As shown, including the controlled object and the first-order linear ADRC controller, the first-order linear ADRC controller includes the extended state observer, the linear error feedback control law and the ADRC total disturbance compensation law.

[0064] Define the bandwidth ω of the linear error feedback law c with the bandwidth of the expanded state observer ω 0 The ratio is λ,

[0065] Define the bandwidth of the first-order linear active disturbance rejection controller as ω A ,make

[0066] Then the error feedback control law bandwidth ω c =(1+2λ)ω A ;

[0067] Extended State Observer Bandwidth

Embodiment 2

[0069] The further design of this example is: in this example, the expression of the extended state observer is:

[0070]

[0071] In the formula, u is the input of the controlled object; y is the output of the controlled object; z i is the output of the extended state observer, i=1, 2;

[0072] in,

[0073] ω 0 is the bandwidth of the expanded state observer; b 0 is the control gain of the extended state observer; β i is the parameter of the extended state observer, i=1, 2,

[0074] The expression of the linear error feedback control law is: u 0 =k 1 (v 0 -z 1 );

[0075] In the formula, v 0 is the set value; k 1 is the parameter of the linear error feedback control law, k 1 = ω c =(1+2λ)ω A ; c is the bandwidth of the linear error feedback law;

[0076] The expression of ADRC total disturbance compensation law is: u=(u 0 -z 2 ) / b 0 .

Embodiment 3

[0078] A parameter tuning method of a first-order linear active disturbance rejection control system in this example includes the following steps:

[0079] 1) Control logic configuration on the control system of the controlled object based on the linear first-order active disturbance rejection controller; including defining the bandwidth ω of the linear error feedback law c with the bandwidth of the expanded state observer ω 0 The ratio of λ and the bandwidth of the first-order linear active disturbance rejection controller is ω A ,in, Then ω c =(1+2λ)ω A , The control system of the controlled object includes DCS system and PLC system.

[0080] 2) Obtain the steady-state gain K, inertia time T and delay time τ of the controlled object, and further obtain the value of λ, the control variable gain b of the extended state observer 0 and the bandwidth ω of the first-order linear active disturbance rejection controller A ;

[0081] 3) Calculate the parameter β of the exte...

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Abstract

According to the first-order linear active-disturbance-rejection control system and the parameter setting method thereof, compared with an existing first-order linear active-disturbance-rejection control system, the number of parameters needing to be set is reduced from four to two, the parameter setting process is simplified, and the parameter setting time is shortened. According to the parameter setting method of the first-order linear active-disturbance-rejection control system, parameter setting optimal formulas are provided for a first-order inertial system, a first-order inertial delay system and a non-overshoot high-order inertial system respectively, and compared with a traditional PI control method, the control effect of the parameter setting method for control is better than that of a traditional PI control method, and the parameter setting efficiency is improved. The control effect of the method is comprehensively superior to that of a traditional PI control method, and for a first-order inertial delay system and a non-overshoot high-order inertial system, the control effect of the method is basically the same as that of the traditional PI control method.

Description

Technical field: [0001] The invention belongs to the technical field of automation, and in particular relates to a first-order linear active disturbance rejection control system and a parameter setting method thereof. Background technique: [0002] In the field of ADRC technology, the widely used low-order linear ADRC controllers are usually the first-order linear ADRC system and the second-order linear ADRC system. Because the first-order linear ADRC system is easier to use and has fewer adjustment parameters than the second-order linear ADRC system, the use of the first-order linear ADRC system is more extensive than the second-order linear ADRC system. [0003] In the practical application of the first-order linear active disturbance rejection control system, the biggest problem lies in the parameter setting. At present, the parameter setting method for the first-order linear active disturbance rejection control system is relatively complicated, and there are many paramet...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 吕品武伟王中胜万晖孙明
Owner 北京品德技术有限公司
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