Robust active-disturbance-rejection control method for system with time delay

Abstract

The invention relates to a robust active-disturbance-rejection control method for a time-delay-containing system, and the method comprises the steps: obtaining a second-order nominal transfer function model of a controlled system, constructing a second-order active-disturbance-rejection controller model matched with the second-order nominal transfer function model, and designing an active-disturbance-rejection controller according to the second-order active-disturbance-rejection controller model; parameterizing the bandwidth of the active disturbance rejection controller; establishing a characteristic equation of a controlled system through parameter scaling, performing stability analysis on the system according to the characteristic equation to obtain a system stability condition, traversing and calculating a critical stability numerical solution of the system to obtain a critical stability boundary condition, namely a system parameter adjustment criterion; and carrying out robustness analysis test on the parameters, and giving a group of parameters meeting critical stability boundary conditions as robust adjustment criteria of active disturbance rejection control. The method is high in robustness, and has a good control effect on a system with uncertain time delay.

Description

technical field [0001] The invention relates to the field of process automatic control, in particular to a robust active disturbance rejection control method for a time-delay system. Background technique [0002] Active Disturbance Rejection Control (ADRC) is used to eliminate various uncertainties in motion and process control. Generally, ADRC can better deal with model uncertainty, nonlinearity and external disturbances. At present, ADRC parameter adjustment methods mainly include trial-and-error method, loop shaping (frequency domain shaping), robust constrained optimization method, bandwidth parameterized adjustment method, programming-based software parameter adjustment method, etc. The above method provides a variety of options for adjusting the parameters of the ADRC controller, but it takes a lot of time and professional knowledge to train field engineers to master the ADRC technology before it can be applied in practice. Moreover, the adjustment of ADRC parameters ...

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Problems solved by technology

The above method provides a variety of options for adjusting the parameters of the ADRC controller, but it takes a lot of time and professional knowledge to train the field engineers to master the ADRC technology to make it practical

Moreover, the adjustment of ADRC parameters is usually difficult and time-consuming, and the control effect depends on the controller gain and observer gain

The main reasons are as follows: First, in most cases, there are many observer gains that need to be adjusted, and the controller gain and observer gain are independent of each other, so there are many parameters that need to be adjusted in the whole system

Second, most ADRC tuning parameters do not strictly consider the influence of time delay

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