Linear active disturbance rejection controller and design method and parameter setting method thereof

Abstract

The invention discloses a linear active-disturbance-rejection controller and a design method and a parameter setting method thereof, and the design method comprises the steps: building a gain parameter which considers the influence of the order of a controlled object on overshoot in the step response of the controller, and introducing the gain parameter into a linear error feedback control rate; an error component between the output of the linear tracking differentiator and the output of the linear extended state observer is dynamically adjusted, thereby configuring a zero point of a forward channel of the system, i.e., a zero point of a closed-loop system, thereby reducing overshoot. According to the linear active disturbance rejection controller, the input of a linear error feedback control law is provided with a gain parameter, the gain parameter dynamically adjusts an error component between the output of a linear tracking differentiator and the output of a linear expansion state observer, and therefore the zero point of a system forward channel is configured; the zero point is the zero point of the closed-loop system, so that the overshoot is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic control, and in particular relates to a linear active disturbance rejection controller and a design method and a parameter setting method thereof. Background Art

[0002] With the rapid development of industrial automation technology, control systems are facing increasingly stringent requirements for interference immunity and dynamic response performance. Active Disturbance Rejection Control (ADRC) has attracted widespread attention due to its ability to estimate system states and suppress disturbances in real time. The linear tracking differentiator (LTD), a key component of ADRC, can extract smooth derivative signals through filtering, overcoming the noise amplification problem of traditional differential methods.

[0003] Although the ADRC control strategy has performed well in engineering applications, the traditional high-order linear ADRC system based on the bandwidth parameter tuning method still has the problem of closed-loop step response overshoot in actual use. This overshoot response is not allowed for some process control, such as temperature control requires not to overheat, overheating will affect the life of metal pipes, and for some precision control, overshoot will cause product failure. Some people have improved the traditional ADRC based on the bandwidth parameter tuning method, and the linear error feedback control rate is set to Change to Where u0 is the output of the linear error feedback control law; v i is the i-th output of the linear tracking differentiator; k i is the parameter of the linear error feedback control law; z i is the i-th output of the linear extended state observer; v1 is the first output of the linear tracking differentiator; although this improvement solves the overshoot problem, it sacrifices the rapidity of the ADRC controller.

[0004] Since it is difficult to strike a balance between suppressing overshoot and response speed, an improvement solution is urgently needed to improve the robustness and dynamic performance of the system while maintaining control accuracy. Summary of the Invention

[0005] In order to solve the problems existing in the prior art, the present invention proposes a linear active disturbance rejection controller and a design method and a parameter tuning method thereof.

[0006] The technical solutions of the present invention are as follows:

[0007] A design method for a linear active disturbance rejection controller, the linear active disturbance rejection controller including a linear tracking differentiator, a linear error feedback control rate, and a linear extended state observer; the design method includes:

[0008] Construct a gain parameter that considers the effect of the controlled object order on the overshoot in the controller step response;

[0009] The gain parameter is introduced into the linear error feedback control rate, so that the input of the linear error feedback control rate is the difference between the output value of the linear tracking differentiator multiplied by the gain parameter and the output of the linear extended state observer.

[0010] Furthermore, the expression of the linear error feedback control law is:

[0011]

[0012] Where u0 is the output of the linear error feedback control law; u is the input of the controlled object; b0 is the control gain of the controlled object; v i is the i-th output of the linear tracking differentiator, i=1,2,…,n; z i is the i-th output of the linear extended state observer, i=1,2,…,n+1; k i is the parameter of the linear error feedback control law, satisfying s n +k1s n-1 +…+k n-1 s+k n =(s+ω c ) n , Among them, ω c is the bandwidth of the linear error feedback law; i is the gain coefficient corresponding to the i-th output of the linear tracking differentiator.

[0013] Furthermore, the gain parameter satisfies the following constraints:

[0014]

[0015] Where λ i is the gain coefficient corresponding to the i-th output of the linear tracking differentiator, i = 1, 2, …, n, and n is the order of the controlled object.

[0016] Furthermore, the gain parameter satisfies the following constraints: Make the system closed loop zero point configured at -ω c Place.

[0017] Furthermore, the gain parameter satisfies the following constraints: Make the system closed loop zero point configured at -ω c / ε, where ε is the zero-point coefficient.

[0018] Furthermore, the value range of the zero-point coefficient ε is ε>1.

[0019] A linear active disturbance rejection controller comprises a linear tracking differentiator, a linear error feedback control rate with variable parameters and a linear extended state observer; wherein the input of the linear tracking differentiator is v0 and the output is v i , i=1,2,…,n;

[0020] The input u of the controlled object is obtained by multiplying the gain by b0 and used as the first input signal of the linear extended state observer;

[0021] The output y of the controlled object is used as the second input signal of the linear extended state observer;

[0022] The output of the linear extended state observer is z i , i=1,2,…,n+1;

[0023] The variable parameter linear error feedback control rate input e i =λ i ·v i -z i , i=1,2,…,n,λ i is the gain parameter of the input component of the linear error feedback control law;

[0024] The output u0 of the variable parameter linear error feedback control law and the n+1th dimension output component z of the extended state observer n+1 Take the difference and multiply it by the gain 1 / b0 to get the input u of the controlled object.

[0025] Furthermore, the expression of the controlled object is

[0026]

[0027] Where y is the output of the controlled object; x is the state variable of the controlled object; f is the function of the state variable x; d is the external disturbance;

[0028] The expression of the linear extended state observer is:

[0029]

[0030] Where, β i is the polynomial coefficient of the linear extended state observer, satisfying s n+1 +β1s n +…+β n s+β n+1 =(s+ω0) n+1 ,in, ω o is the bandwidth of the linear extended state observer;

[0031] The expression of the linear tracking differentiator is

[0032]

[0033] Where v0 is the input signal; r is the parameter of the linear expansion tracking differentiator, r = ω o .

[0034] The parameter tuning method of the second-order linear active disturbance rejection controller designed based on the above-mentioned linear active disturbance rejection controller design method is as follows: Controlling, the method comprises:

[0035] Step 1) Let the bandwidth of the linear error feedback law be c and the bandwidth ω of the extended state observer o The ratio is equal to the parameter λ, that is Set the value of parameter λ and let the bandwidth of the second-order linear active disturbance rejection controller based on the linear error feedback control rate with variable parameters be ω a ,ω a satisfy

[0036] Step 2) Calculate the bandwidth ω according to the following parameter tuning formula of the second-order linear active disturbance rejection controller: a And the control quantity gain b0 of the controlled object: ω a =1 / T, b0=K / T 2 , then based on the acquisition of ω c and ω o With λ and ω a The relationship between the linear error feedback law and the bandwidth ω is obtained c and the bandwidth ω of the extended state observer o :

[0037]

[0038] Step 3) setting the gain parameters of the second-order linear active disturbance rejection controller to configure the zero point of the control system forward channel, that is, the zero point of the closed-loop system;

[0039] Step 4) Using the calculated ω c 、ω o , b0 and the set gain parameters are automatically controlled to complete the parameter tuning.

[0040] Furthermore, the method for setting the gain parameter in step 3) includes:

[0041] Set the initial values of the first gain parameter λ1 of the first input in the linear error feedback control rate corresponding to the variable parameter and the second gain parameter of the second input in the linear error feedback control rate corresponding to the variable parameter: Where, ε is the zero-point coefficient;

[0042] The initial value is ε=1 and the value is gradually increased to ε=1.68, and the value of the gain parameter that meets the preset overshoot requirement in the gradual increase process is used as the final setting value of the gain parameter.

[0043] An electronic device comprises a memory and a processor, wherein the memory stores a computer program, and the processor is configured to call and run the computer program stored in the memory to execute any of the above methods.

[0044] A computer-readable storage medium stores a computer program, wherein the computer program implements the steps of any of the above methods when executed by a processor.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] The present invention proposes a linear active disturbance rejection controller and a design method and parameter tuning method thereof. The design method constructs a gain parameter that takes into account the influence of the order of the controlled object on the overshoot in the controller step response, introduces the gain parameter into the linear error feedback control rate, and dynamically adjusts the error component between the output of the linear tracking differentiator and the output of the linear extended state observer, thereby configuring the zero point of the system forward channel, that is, the zero point of the closed-loop system, thereby reducing the overshoot.

[0047] The input of the linear error feedback control law in the linear active disturbance rejection controller of the present invention is provided with a gain parameter. The input of the linear error feedback control law e i =λ i ·v i -z i The gain parameter dynamically adjusts the error component between the output of the linear tracking differentiator and the output of the linear extended state observer, thereby configuring the zero point of the system forward channel, that is, the zero point of the closed-loop system, thereby reducing the overshoot.

[0048] The tuning method of the linear active disturbance rejection controller of the present invention has reasonable debugging rules, is more suitable for the debugging site, and has specific theoretical guidance, thus avoiding the problem of fuzzy parameter adjustment process caused by the empirical tuning method.

[0049] This invention has broad applicability in the field of industrial process control, particularly in complex and dynamic environments such as energy and power, automation equipment, petrochemicals, metallurgy, and intelligent driving, demonstrating significant technical advantages. By improving the robustness and dynamic response of the control system, this invention can effectively cope with various disturbances and uncertainties, providing reliable guarantees for high-precision control and stable operation in these industries. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 The system block diagram of the LADRC control system based on the linear state feedback control law with variable parameters;

[0051] Figure 2 The block diagram of the LADRC control system (the system order is second order) based on the linear state feedback control law with variable parameters;

[0052] Figure 3 This is a closed-loop response curve effect diagram of a controlled object with no delay time using the control system and parameter tuning method of the present invention;

[0053] Figure 4 This is the step response curve corresponding to the process of the controller parameter λ2 increasing from 0.5 to 0.84. DETAILED DESCRIPTION

[0054] The present invention is further illustrated below with reference to the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. After reading the present invention, various equivalent modifications of the present invention by those skilled in the art fall within the scope defined by the claims attached to this application.

[0055] Example 1:

[0056] This embodiment provides a design method for a linear active disturbance rejection controller, which includes a linear tracking differentiator, a linear error feedback control rate, and a linear extended state observer. The design method includes:

[0057] Based on the bandwidth parameter tuning method, a gain parameter is constructed that takes into account the effect of the controlled object order on the overshoot in the controller step response.

[0058] The gain parameter is introduced into the linear error feedback control rate, so that the input of the linear error feedback control rate is the difference between the output value of the linear tracking differentiator multiplied by the gain parameter and the output of the linear extended state observer. The error component between the output of the linear tracking differentiator and the output of the linear extended state observer is dynamically adjusted, thereby configuring the zero point of the system's forward channel, that is, the zero point of the closed-loop system.

[0059] Furthermore, the bandwidth parameter tuning method is a method of adjusting the bandwidth of the linear extended state observer (ω o ) and the bandwidth of the linear error feedback control rate (ω c ) is used to simplify the parameter tuning method. For details, please refer to the prior art titled "Scaling and bandwidth-parameterization based controller tuning". The expression of the linear error feedback control rate in the bandwidth parameter tuning method is: On this basis, some researchers have made improvements and changed it to Although this improvement solves the overshoot problem, it sacrifices the rapidity of the ADRC controller.

[0060] The present invention introduces the gain parameter into the linear error feedback control rate to dynamically adjust the error component between the linear tracking differentiator output and the linear extended state observer output, thereby configuring the zero point of the system forward channel. Based on this, the linear error feedback control law of the present invention is expressed as:

[0061]

[0062] Where u0 is the output of the linear error feedback control law; u is the input of the controlled object; b0 is the control gain of the controlled object; v i is the i-th output of the linear tracking differentiator, i=1,2,…,n; z i is the i-th output of the linear extended state observer, i=1,2,…,n+1; k i is the parameter of the linear error feedback control law, satisfying s n +k1s n-1 +…+k n-1 s+k n =(s+ω c ) n , Among them, ω c is the bandwidth of the linear error feedback law; i is the gain coefficient corresponding to the i-th output of the linear tracking differentiator.

[0063] Example 2:

[0064] This embodiment is further designed based on the first embodiment in that the gain parameter in this embodiment satisfies the following constraints:

[0065]

[0066] Where λ i is the gain coefficient corresponding to the i-th output of the linear tracking differentiator, i = 1, 2, …, n, and n is the order of the controlled object.

[0067] Example 3:

[0068] This embodiment is further designed based on the first embodiment in that the gain parameter in this embodiment satisfies the following constraints: Make the system closed loop zero point configured at -ω c At, (s+ω c ) n -s n Transformed into (s+ω c )n-1 .

[0069] Example 4:

[0070] This embodiment is further designed based on the first embodiment in that the gain parameter in this embodiment satisfies the following constraints: Make the system closed loop zero point configured at -ω c / ε, that is, (s+ω c ) n -s n Transformed into (s+εω c ) n-1 , where ε is the zero-point coefficient, which ensures that the closed-loop step response satisfies the maximum overshoot of no more than 5%.

[0071] Embodiment 5:

[0072] This embodiment is further designed on the basis of the fourth embodiment in that the value range of the zero-point coefficient ε in this embodiment is ε>1.

[0073] Example 6:

[0074] This embodiment provides a linear active disturbance rejection controller, which is obtained by the design method of the linear active disturbance rejection controller of any of the above embodiments, such as Figure 1 As shown, the linear active disturbance rejection controller includes a linear tracking differentiator (also called "LTD"), a linear error feedback control rate (also called "LSEF") with variable parameters, and a linear extended state observer (also called "LESO").

[0075] The input of the linear tracking differentiator is v0 and the output is v i , i=1,2,…,n;

[0076] The input u of the controlled object is multiplied by b0 and used as the first input signal of the linear extended state observer;

[0077] The output y of the controlled object serves as the second input signal of the linear extended state observer;

[0078] The output of the linear extended state observer is z i , i=1,2,…,n+1;

[0079] The input parameters of the variable parameter linear error feedback control law are variable. The linear error feedback control law in the present invention is also called the variable parameter linear error feedback control law, specifically e i =λ i ·v i -z i , i=1,2,…,n,λ i is the gain parameter of the input component of the linear error feedback control law, that is, the weight factor;

[0080] The output u0 of the linear error feedback control law with variable parameters and the n+1th dimension output component z of the extended state observer n+1 Take the difference and multiply it by the gain 1 / b0 to get the input u of the controlled object.

[0081] Furthermore, the expression of the n-order controlled object in this example is

[0082]

[0083] Where y is the output of the controlled object; x is the state variable of the controlled object; f is the function of the state variable x; d is the external disturbance;

[0084] The expression of the linear extended state observer is:

[0085]

[0086] Where, β i is the polynomial coefficient of the linear extended state observer, satisfying s n+1 +β1s n +…+β n s+β n+1 =(s+ω0) n+1 ,in, ω o is the bandwidth of the linear extended state observer;

[0087] The expression of the linear tracking differentiator is

[0088]

[0089] Where v0 is the input signal; r is the parameter of the linear expansion tracking differentiator, r = ω o .

[0090] Embodiment seven:

[0091] This embodiment provides a parameter tuning method for a second-order linear active disturbance rejection controller designed based on the design method of the linear active disturbance rejection controller in the first embodiment above. The second-order linear active disturbance rejection controller is used for a second-order object without delay. Exercise control, including:

[0092] Step 1) Let the bandwidth of the linear error feedback law be c and the bandwidth ω of the extended state observer o The ratio is equal to the parameter λ, that is Set the value of parameter λ, in this case λ = 0.1, and let the bandwidth of the second-order linear active disturbance rejection controller based on the linear error feedback control rate with variable parameters be ω a ,ω a satisfy

[0093]

[0094] Step 2) Calculate the bandwidth ω according to the following parameter tuning formula of the second-order linear active disturbance rejection controller: a And the control quantity gain b0 of the controlled object: ω a =1 / T, b0=K / T 2 , then based on the acquisition of ω c and ω o With λ and ω a The relationship between the linear error feedback law and the bandwidth ω is obtained c and the bandwidth ω of the extended state observer o :

[0095]

[0096] Step 3) setting the gain parameters of the second-order linear active disturbance rejection controller to configure the zero point of the control system forward channel, that is, the zero point of the closed-loop system;

[0097] Step 4) Using the calculated ω c 、ω o , b0 and the set gain parameters are automatically controlled to complete the parameter tuning.

[0098] Furthermore, the method for setting the gain parameter in step 3) includes:

[0099] Set the initial values of the first gain parameter λ1 of the first input in the linear error feedback control rate corresponding to the variable parameter and the second gain parameter of the second input in the linear error feedback control rate corresponding to the variable parameter: Where, ε is the zero-point coefficient;

[0100] The initial value is ε=1 and the value is gradually increased to ε=1.68, and the value of the gain parameter that meets the preset overshoot requirement in the gradual increase process is used as the final setting value of the gain parameter.

[0101] Furthermore, for Figure 2 The controlled object in the Get the steady-state gain K and inertia time constant of the controlled object; set the bandwidth ω of the linear error feedback law c and the bandwidth ω of the extended state observer o The ratio is equal to λ, that is Assume that the bandwidth of the LADRC control system based on the linear state feedback control law with variable parameters is ω a ,satisfy Then deduce The LADRC parameter tuning formula is obtained according to the controlled object as follows: a =1 / T, b0=K.

[0102] For n-order delay-free objects, an n-order improved linear active disturbance rejection controller can be designed according to the design method of the present invention, and its parameter tuning method can refer to the second-order control process.

[0103] Embodiment 8:

[0104] An electronic device of the present invention includes a memory and a processor. The memory stores a computer program. The processor is used to call and run the computer program stored in the memory to execute the method of any of the above embodiments.

[0105] A computer-readable storage medium of the present invention stores a computer program, and when the computer program is executed by a processor, the steps of any of the above embodiments are implemented.

[0106] Application Example 1:

[0107] This example illustrates the principle of the linear active disturbance rejection controller designed using the design method of the present invention. For an n-order linear ADRC, after expansion, u=G v (s)v0-G y (s)y, the closed-loop transfer function after combining with the control object is:

[0108] The poles of the closed-loop transfer function are the closed-loop characteristic equation 1+G y (s)The root of G(s)=0.

[0109] Closed-loop stability is only related to G y (s) related to G v (s) irrelevant.

[0110] D1=s n+1 +β1s n +…+β n s+β n+1 =(s+ω o ) n+1

[0111] D2=s n +k n s n-1 +…+k2s+k1=(s+ω c ) n

[0112] D1D2=D3s n+1 +D4

[0113] but

[0114] Assuming a linear tracking differentiator (also called "LTD") is used in standard ADRC, then The linear expansion tracking differentiator parameter r = ω o ,but

[0115]

[0116] In particular, when n=2, we have

[0117] D1=(s+ω o ) 3 , D2=(s+ω c ) 2

[0118]

[0119] Assuming a second-order object but

[0120]

[0121] It can be proved that the absolute value of the real part of the closed-loop transfer function pole is at ω c (ω c ≤ω o ), but there is a zero point equal to -ω c / 2, so it can be seen that the step response of the closed-loop system has overshoot.

[0122] In fact, if ADRC can fully compensate for internal and external disturbances, the object will be transformed into an integral series type, and the ideal closed-loop transfer function must be Its step response will inevitably overshoot when n≥2.

[0123] The linear active disturbance rejection controller of the present invention combines n-order LTD with linear feedback control law Modified to in Therefore, the improved The zero point is -ω c .

[0124] Still targeting the above second-order objects have

[0125]

[0126] D1=(s+ω o ) 3 , D2=(s+ω c ) 2

[0127]

[0128] therefore

[0129]

[0130] make get Application Example 2:

[0131] This embodiment is aimed at Figure 2 The second-order time-delay-free model shown The linear active disturbance rejection controller and its parameter tuning method proposed in this invention are used for simulation verification. The simulation uses the fixed-step Euler method to solve the problem with a step size of 0.01. The open-loop response curve is compared with the LADRC control system based on the variable parameter linear state feedback control law.

[0132] Determine the system parameters T=1, K=1, since τ=0, take Get And let λ = 0.1, and then we get Controller variable parameters λ1=1, λ2=0.5;

[0133] The step response curve obtained by running is as follows Figure 3 As shown, the standard ADRC maintains Under the premise of , the overshoot is about 10%, which is much higher than that of the improved ADRC. The results show that the control effect is significantly improved after the improvement, proving the necessity of the present invention, that is, the overshoot problem of the standard ADRC is solved without time delay.

[0134] Furthermore, the values of ε are set to 1, 1.2, 1.4 and 1.68, and the values of λ2 are set to 0.5, 0.6, 0.7 and 0.84, respectively, to verify the influence of different values of the parameter ε on the overshoot.

[0135] The simulation is solved by the fixed-step Euler method with a step size of 0.01. The step response curve is as follows: Figure 4 As shown in FIG, the results show that when the value of the controller parameter ε increases from 1 to 1.68, the overshoot of the response curve also increases. When ε = 1.68, the overshoot just reaches 5%. Therefore, the value of the parameter ε of the LADRC control system based on the linear state feedback control law with variable parameters is 1≤ε≤1.68.

[0136] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. A design method for a linear active disturbance rejection controller, characterized in that: The linear active disturbance rejection controller includes a linear tracking differentiator, a linear error feedback control rate and a linear extended state observer; the design method includes: Construct a gain parameter that considers the effect of the controlled object order on the overshoot in the controller step response; The gain parameter is introduced into the linear error feedback control rate, so that the input of the linear error feedback control rate is the difference between the output value of the linear tracking differentiator multiplied by the gain parameter and the output of the linear extended state observer.

2. The design method of the linear active disturbance rejection controller according to claim 1, characterized in that: The expression of the linear error feedback control law is: Where u0 is the output of the linear error feedback control law; u is the input of the controlled object; b0 is the control gain of the controlled object; v i is the i-th output of the linear tracking differentiator, i=1,2,…,n; z i is the i-th output of the linear extended state observer, i=1,2,…,n+1; k i is the parameter of the linear error feedback control law, satisfying s n +k1s n-1 +…+k n-1 s+k n =(s+ω c ) n , Among them, ω c is the bandwidth of the linear error feedback law; i is the gain coefficient corresponding to the i-th output of the linear tracking differentiator.

3. The design method of the linear active disturbance rejection controller according to claim 2, characterized in that: The gain parameters satisfy the following constraints: Where λ i is the gain coefficient corresponding to the i-th output of the linear tracking differentiator, i = 1, 2, …, n, and n is the order of the controlled object.

4. The design method of the linear active disturbance rejection controller according to claim 2, characterized in that: The gain parameters satisfy the following constraints: Make the system closed loop zero point configured at -ω c Place.

5. The design method of the linear active disturbance rejection controller according to claim 2, characterized in that: The gain parameters satisfy the following constraints: Make the system closed loop zero point configured at -ω c / ε, where ε is the zero-point coefficient.

6. The design method of the linear active disturbance rejection controller according to claim 4, characterized in that: The value range of the zero-point coefficient ε is ε>1.

7. A linear active disturbance rejection controller, characterized in that: It includes a linear tracking differentiator, a linear error feedback control rate with variable parameters and a linear extended state observer; wherein the input of the linear tracking differentiator is v0 and the output is v i , i=1,2,…,n; The input u of the controlled object is obtained by multiplying the gain by b0 and used as the first input signal of the linear extended state observer; The output y of the controlled object is used as the second input signal of the linear extended state observer; The output of the linear extended state observer is z i , i=1,2,…,n+1; The variable parameter linear error feedback control rate input e i =λ i ·v i -z i , i=1,2,…,n,λ i is the gain parameter of the input component of the linear error feedback control law; The output u0 of the variable parameter linear error feedback control law and the n+1th dimension output component z of the extended state observer n+1 Take the difference and multiply it by the gain 1 / b0 to get the input u of the controlled object.

8. The linear active disturbance rejection controller according to claim 7, characterized in that: The expression of the controlled object is Where y is the output of the controlled object; x is the state variable of the controlled object; f is the function of the state variable x; d is the external disturbance; The expression of the linear extended state observer is: Where, β i is the polynomial coefficient of the linear extended state observer, satisfying s n+1 +β1s n +…+β n s+β n+1 =(s+ω0) n+1 ,in, ω o is the bandwidth of the linear extended state observer; The expression of the linear tracking differentiator is Where v0 is the input signal; r is the parameter of the linear expansion tracking differentiator, r = ω o .

9. A parameter tuning method for a second-order linear active disturbance rejection controller designed based on the design method of the linear active disturbance rejection controller according to claim 1, wherein the second-order linear active disturbance rejection controller is used for a second-order object without delay. Control is performed, characterized in that The method comprises: Step 1) Let the bandwidth of the linear error feedback law be c and the bandwidth ω of the extended state observer o The ratio is equal to the parameter λ, that is Set the value of parameter λ and let the bandwidth of the second-order linear active disturbance rejection controller based on the linear error feedback control rate with variable parameters be ω a ,ω a satisfy Step 2) Calculate the bandwidth ω according to the following parameter tuning formula of the second-order linear active disturbance rejection controller: a And the control quantity gain b0 of the controlled object: ω a =1 / T, b0=K / T 2 , then based on the acquisition of ω c and ω o With λ and ω a The relationship between the linear error feedback law and the bandwidth ω is obtained c and the bandwidth ω of the extended state observer o : Step 3) setting the gain parameters of the second-order linear active disturbance rejection controller to configure the zero point of the control system forward channel, that is, the zero point of the closed-loop system; Step 4) Using the calculated ω c 、ω o , b0 and the set gain parameters are automatically controlled to complete the parameter tuning.

10. The parameter tuning method of the linear active disturbance rejection controller according to claim 9, characterized in that: The method for setting the gain parameter in step 3) includes: Set the initial values of the first gain parameter λ1 of the first input in the linear error feedback control rate corresponding to the variable parameter and the second gain parameter of the second input in the linear error feedback control rate corresponding to the variable parameter: Where, ε is the zero-point coefficient; The initial value is ε=1 and the value is gradually increased to ε=1.68, and the value of the gain parameter that meets the preset overshoot requirement in the gradual increase process is used as the final setting value of the gain parameter.

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