Method and device for optimizing feed-forward type first-order ADRC controller

Abstract

The invention discloses a feed-forward type first-order ADRC controller optimization method and device, and belongs to the field of automation. A first-order ADRC system usually omits a transition link, and although the structure of the system is simplified to a certain extent and the calculated amount and the hardware cost of the system are reduced, the adaptive capacity of the system to abrupt change signals and noise interference is sacrificed. The invention provides an innovative improvement scheme. A feedforward link is additionally arranged behind a set value of a first-order linear ADRC system and serves as a transition link of the system. The method aims at making up for the defects of a first-order ADRC system in the aspects of interference resistance and response speed by referring to the advantages of a transition link in a second-order or higher-order ADRC system. By adopting the method provided by the invention, the dynamic response performance of the system can be obviously improved. Particularly, the response speed of the system is higher, the overshoot is smaller, and the system can keep better stability when facing sudden change signals and noise interference.

Description

Technical Field

[0001] The present application belongs to the field of automatic control technology, and in particular relates to a feedforward first-order ADRC controller optimization method and device. Background Art

[0002] In modern industrial automation, control systems play a critical role in ensuring stable and efficient equipment operation. Active Disturbance Rejection Control (ADRC) technology has garnered widespread attention due to its robustness to internal and external disturbances and its lack of need for precise mathematical models. First-order linear active disturbance rejection control systems, as the most basic and simple form of ADRC technology, are widely used in applications that demand both control accuracy and dynamic performance while requiring relatively low system complexity.

[0003] A first-order linear active disturbance rejection control system is usually composed of a linear extended state observer (LESO) and a linear state error feedback control law (LSEF). Traditionally, there are four parameters that need to be tuned, namely the linear extended observer parameters β1 and β2, the linear error feedback control rate parameter k p And the control quantity gain b0. Accurate adjustment of these parameters is crucial for optimizing system performance. However, there are complex correlations between the parameters, and a lot of debugging work needs to be done for different application scenarios, which makes the parameter adjustment process extremely cumbersome. To overcome these difficulties, Professor Gao Zhiqiang proposed a bandwidth parameterization method. This method deeply analyzes the intrinsic relationship between the control parameters, establishes the correlation between the parameters with the help of the bandwidth parameter characteristics, simplifies the coupling relationship between the parameters, and reduces the number of parameter adjustments to 3, namely the bandwidth ω of the extended state observer. o , linear error feedback rate bandwidth ω c and b0, which reduces the difficulty of setting to a certain extent.

[0004] Based on the above research, researchers have proposed a simpler and more effective parameter tuning method for time-delay systems, further promoting the application of first-order linear ADRC in engineering. They reduced the number of tuning parameters to two, namely λ and b0, where λ = ω c / ω o , 0<λ≤1. This method shows excellent performance under various working conditions; however, when the value of λ is small, the control system has a slow response speed in tracking the set value. Summary of the Invention

[0005] This application aims to solve at least one of the technical problems existing in the related art. To this end, this application proposes a feedforward first-order ADRC controller optimization method and device, which can significantly improve the dynamic response performance of the system, specifically, the system has a faster response speed, smaller overshoot, and can maintain better stability in the face of sudden signal and noise interference.

[0006] In the first aspect, the present application provides a feedforward first-order ADRC controller optimization method, which adds a feedforward link G to the classic linear active disturbance rejection control system. F , the method comprising:

[0007] S1: Using the soaring curve method or by simplifying the transfer function, for the first-order inertial time-delay system, the controlled object transfer function G p Identify the parameters of the controlled object transfer function, wherein the parameters in the controlled object transfer function include: steady-state gain, inertia time constant and delay time;

[0008] S2: Transfer function G to the controlled object p After the parameters of are identified, the corresponding linear extended state observer is expressed as:

[0009]

[0010] Where t represents time, r(t), u(t) and y(t) represent the system reference value, input value and output value respectively, z1(t) and z2(t) represent the estimated values of state variables;

[0011] The feedback rate is u0(t)=k p (r(t)-z1(t));

[0012] The compensation rate is

[0013] Using the bandwidth parameterization method, the bandwidth of the extended state observer ω is defined as o and linear error feedback rate bandwidth ω c , the linear extended state observer parameters β1 and β2 and the linear error feedback control law parameter k are calculated p , β1=2ω o , k p =ω c , then the parameters to be tuned for the first-order linear active disturbance rejection control include ω o 、ω c and the control quantity gain b0 of the extended state observer to simplify parameter tuning;

[0014] S3: Define the bandwidth of the first-order ADRC as Then ω c=(1+2λ)ω A , Then in S2 k p =(1+2λ)ω A , then the parameters to be adjusted include ω A ,λ and b0;

[0015] S4: On the basis of the first-order linear ADRC, a feedforward link is added, that is, a feedforward transfer function is added after the set value. Among them, T1 and T2 are the parameters of the feedforward link, which is the transition link of the first-order ADRC. Then the system input r=r0G F .

[0016] According to one embodiment of the present application, in S2, if the controlled object is a first-order inertial time-delay system, the transfer function is determined based on the following formula:

[0017]

[0018] Among them, G p (s) is the transfer function; u(s) and y(s) are the Laplace transforms of the system input u(t) and output y(t), respectively; K is the steady-state gain, T is the inertia time constant; and τ is the delay time.

[0019] According to one embodiment of the present application, in S3, the range of λ is 0<λ≤1.

[0020] According to one embodiment of the present application, in S3, a controller is designed based on the zero-pole cancellation principle. Among them, ω A is the bandwidth of the first-order ADRC; ω o is the bandwidth of the extended state observer; ω c is the linear error feedback rate bandwidth; T is the inertia time constant.

[0021] According to one embodiment of the present application, in S4, when the DCS or PLC is configured, there is no feedforward transfer function Function; use two lead-lag links to configure, where the first numerator time constant is 0, and the denominator time constants of the two lead-lag links are the same, that is

[0022] According to one embodiment of the present application, T2>0; T1 is greater than T2.

[0023] According to one embodiment of the present application, the ω c is the linear error feedback rate bandwidth; ωo is the bandwidth of the extended state observer.

[0024] According to one embodiment of the present application, in the Under the condition of , the initial value of the control quantity gain b0 of the extended state observer is determined based on the following formula:

[0025] According to one embodiment of the present application, the present invention includes:

[0026] Starting from the initial value of the control quantity gain b0 of the extended state observer, gradually reducing the control quantity gain b0 of the extended state observer so that the overshoot of the closed-loop control is less than or equal to 5%;

[0027] or,

[0028] Starting from the initial value of the control variable gain b0 of the extended state observer, the control variable gain b0 of the extended state observer is gradually increased so that no overshoot occurs during the closed-loop control process.

[0029] In the second aspect, the present application provides a feedforward first-order ADRC controller optimization device, which adds a feedforward link G to the classic linear active disturbance rejection control device. F , the device comprises:

[0030] The first processing module is used to use the soaring curve method or the method of simplifying the transfer function to calculate the first-order inertial time-delay system and the controlled object transfer function G p Identify the parameters of the controlled object transfer function, wherein the parameters in the controlled object transfer function include: steady-state gain, inertia time constant and delay time;

[0031] The second processing module is used to transfer the function G p After the parameters of are identified, the corresponding linear extended state observer is expressed as:

[0032]

[0033] Where t represents time, r(t), u(t) and y(t) represent the system reference value, input value and output value respectively, z1(t) and z2(t) represent the estimated values of state variables;

[0034] The feedback rate is u0(t)=k p (r(t)-z1(t));

[0035] The compensation rate is

[0036] Using the bandwidth parameterization method, the bandwidth of the extended state observer ω is defined as o and linear error feedback rate bandwidth ωc , the linear extended state observer parameters β1 and β2 and the linear error feedback control law parameter k are calculated p , β1=2ω o , k p =ω c , then the parameters to be tuned for the first-order linear active disturbance rejection control include ω o 、ω c and the control quantity gain b0 of the extended state observer to simplify parameter tuning;

[0037] The third processing module is used to define the bandwidth of the first-order ADRC as Then ω c =(1+2λ)ω A , Then in the second processing module k p =(1+2λ)ω A , then the parameters to be adjusted include ω A ,λ and b0;

[0038] The fourth processing module is used to add a feedforward link on the basis of the first-order linear ADRC, that is, to add a feedforward transfer function after the set value Among them, T1 and T2 are the parameters of the feedforward link, which is the transition link of the first-order ADRC. Then the system input r=r0G F .

[0039] In a third aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the processor executes the computer program, the feedforward first-order ADRC controller optimization method as described in the first aspect above is implemented.

[0040] In a fourth aspect, the present application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the feedforward first-order ADRC controller optimization method as described in the first aspect above.

[0041] In a fifth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the feedforward first-order ADRC controller optimization method as described in the first aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0043] Figure 1 This is a block diagram of a feedforward first-order ADRC control system provided by an embodiment of the present application;

[0044] Figure 2 This is the feedforward link G provided in the embodiment of the present application. F Configuration diagram;

[0045] Figure 3 is a simplified diagram of a first-order linear active disturbance rejection control system provided by an embodiment of the present application;

[0046] Figure 4 1 is a closed-loop response diagram of a first-order linear ADRC system when the parameters provided in the embodiment of the present application are different;

[0047] Figure 5 This is a simplified diagram of a feedforward first-order ADRC control system provided by an embodiment of the present application;

[0048] Figure 6 The embodiment of the present application provides the selection of different feedforward links G F Response diagram of the first-order linear ADRC system at r when ;

[0049] Figure 7 The embodiment of the present application provides the selection of different feedforward links G F When , the closed-loop response diagram of the first-order linear ADRC system;

[0050] Figure 8 This is a comparison diagram of the feedforward first-order ADRC provided by the embodiment of the present application, and the first-order linear ADRC and PI;

[0051] Figure 9 This is a feedforward first-order ADRC provided by the embodiment of the present application, and a comparison chart of the anti-interference effect with PI

[0052] Figure 10 This is a comparison diagram of the control effects of ADRC and feedforward first-order ADRC in the main steam temperature system provided by the embodiment of the present application;

[0053] Figure 11 Schematic diagram of the structure of the feedforward first-order ADRC controller optimization device provided in an embodiment of the present application;

[0054] Figure 12 It is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0056] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0057] The following, in conjunction with the accompanying drawings, describes in detail the feedforward first-order ADRC controller optimization method, feedforward first-order ADRC controller optimization device, electronic device, and readable storage medium provided in the embodiments of the present application through specific embodiments and their application scenarios.

[0058] The feedforward first-order ADRC controller optimization method may be applied to a terminal, and may be specifically executed by hardware or software in the terminal.

[0059] The terminal includes but is not limited to portable communication devices such as mobile phones or tablet computers. It should also be understood that in some embodiments, the terminal may not be a portable communication device, but a desktop computer.

[0060] In the following embodiments, a terminal including a display and a touch-sensitive surface is described. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, a mouse, and a joystick.

[0061] The feedforward first-order ADRC controller optimization method provided in the embodiment of the present application may be an electronic device or a functional module or functional entity in the electronic device that can implement the feedforward first-order ADRC controller optimization method. The electronic devices mentioned in the embodiment of the present application include but are not limited to mobile phones, tablet computers, computers, cameras, and wearable devices. The feedforward first-order ADRC controller optimization method provided in the embodiment of the present application is described below using the electronic device as an example of the execution subject.

[0062] The inventors found that when the value of λ is 0.1, the adjustment time of the system is significantly increased compared to when the value of λ is 10, indicating that the dynamic performance of the system is relatively slow at this value.

[0063] Based on the analysis of this phenomenon, this application proposes a feedforward first-order ADRC controller optimization method. This method adds a feedforward transfer function after the set value as a transition link of the controller.

[0064] This application conducted a series of comparative experiments, and the results showed that the system adjustment time of the feedforward first-order ADRC controller optimization method was significantly shortened and the dynamic performance was significantly improved; its beneficial effects are specifically reflected in: First, it greatly improved the response speed of the system, enabling the system to respond to input signals more quickly and adjust the output in time, meeting the needs of application scenarios such as real-time control and rapid adjustment; Second, it significantly enhanced the stability of the system, reduced performance fluctuations caused by value fluctuations, and ensured that the system can operate stably and reliably under different working conditions, laying a solid foundation for the widespread application of this technology in complex and changeable actual engineering environments.

[0065] A feedforward first-order ADRC controller optimization method is proposed, which adds a feedforward link G to the classic linear active disturbance rejection control system. F , including: S1, S2, S4 and S4.

[0066] S1: Use the rising curve method or the method of simplifying the transfer function to calculate the first-order inertial time-delay system, such as Figure 1 The controlled object transfer function G p The parameters of the controlled object transfer function include steady-state gain, inertia time constant and delay time;

[0067] In other embodiments, the open-loop step response curve method can also be used to calculate the first-order inertial time-delay system. Figure 1 The transfer function G of the controlled object p The parameters involved include steady-state gain K, inertia time constant T and delay time τ.

[0068] S2: Transfer function G to the controlled object p After the parameters of are identified, the corresponding linear extended state observer is expressed as:

[0069]

[0070] Where t represents time, r(t), u(t) and y(t) represent the system reference value, input value and output value respectively, z1(t) and z2(t) represent the estimated values of state variables;

[0071] The feedback rate is u0(t)=kp (r(t)-z1(t));

[0072] The compensation rate is

[0073] Using the bandwidth parameterization method, the bandwidth of the extended state observer ω is defined as o and linear error feedback rate bandwidth ω c , the linear extended state observer parameters β1 and β2 and the linear error feedback control law parameter k are calculated p , β1=2ω o , , k p =ω c , then the parameters to be tuned for the first-order linear active disturbance rejection control include ω o 、ω c and the control quantity gain b0 of the extended state observer to simplify parameter tuning;

[0074] In some embodiments, in S2, for a first-order inertial time-delay system as the controlled object, the transfer function is determined based on the following formula:

[0075]

[0076] Among them, G p (s) is the transfer function; u(s) and y(s) are the Laplace transforms of the system input u(t) and output y(t), respectively; K is the steady-state gain, T is the inertia time constant; and τ is the delay time.

[0077] S3: Define the bandwidth of the first-order ADRC as Then ω c =(1+2λ)ω A , Then in S2 k p =(1+2λ)ω A , then the parameters to be tuned include ω A ,λ and b0;

[0078] In some embodiments, in S3 , the range of λ is 0<λ≤1.

[0079] In other embodiments, λ may be 0.1.

[0080] In some embodiments, in S3, a controller is designed based on the zero-pole cancellation principle. Among them, ω A is the bandwidth of the first-order ADRC; ω o is the bandwidth of the extended state observer; ω c is the linear error feedback rate bandwidth; T is the inertia time constant.

[0081] S4: On the basis of the first-order linear ADRC, a feedforward link is added, that is, a feedforward transfer function is added after the set value. Among them, T1 and T2 are the parameters of the feedforward link, which is the transition link of the first-order ADRC. Then the system input r=r0G F .

[0082] In some embodiments, in S4, there is no feedforward transfer function when configuring the DCS or PLC. Function; use two lead-lag links to configure, where the first numerator time constant is 0, and the denominator time constants of the two lead-lag links are the same, that is

[0083] Feedforward link G F The configuration diagram is as follows Figure 2 shown.

[0084] In some embodiments, T2>0; T1 is greater than T2.

[0085] In other embodiments, T1 and T2 may be determined based on the following formulas:

[0086] ω c is the linear error feedback rate bandwidth;

[0087] ω o is the bandwidth of the extended state observer.

[0088] In some embodiments, Under the condition of , the initial value of the control quantity gain b0 of the extended state observer can be determined based on the following formula:

[0089] In some embodiments, starting from the initial value of the extended state observer control variable gain b0, the extended state observer control variable gain b0 can be gradually reduced to make the overshoot of the closed-loop control less than or equal to 5%.

[0090] In other embodiments, starting from the initial value of the control variable gain b0 of the extended state observer, the control variable gain b0 of the extended state observer may be gradually increased so that overshoot does not occur during the closed-loop control process.

[0091] According to the feedforward first-order ADRC controller optimization method provided in the embodiment of the present application, a feedforward link is added after the set value and used as the transition link of the system. A series of simulation experiments are carried out to verify the effectiveness of the method of the present application. The simulation experiment results show that the method proposed in the present application can significantly improve the dynamic response performance of the system.

[0092] The following describes in detail a specific implementation of a feedforward first-order ADRC controller optimization method.

[0093] (1) Considering the controlled object to be a first-order inertial time-delay system, the controlled object transfer function is Its differential equation can be written as in represents the total disturbance of the system, b0 represents the input gain, u(t) represents the system input, and y(t) represents the system output.

[0094] Then, the differential equation is converted into a state-space equation as follows:

[0095]

[0096] Where x1(t)=y(t), x2(t)=f(t).

[0097] The corresponding extended state observer can be expressed as:

[0098]

[0099] Where z1(t)→y(t), z2(t)→f(t) represent the estimated values of the state variables, and β1 and β2 represent the observer gains.

[0100] Figure 1 The feedback rate in is:

[0101] u0(t)=k p (r(t)-z1(t)),

[0102] The compensation rate is

[0103]

[0104] Using the bandwidth parameterization method, the bandwidth of the extended state observer ω is defined as o , linear error feedback rate bandwidth ω c ω c , and then calculate the linear extended state observer parameters β1 and β2 and the linear error feedback control law parameter k p , β1=2ω o , k p =ω c .

[0105] The first-order linear ADRC can be simplified as follows:

[0106]

[0107] in The simplified diagram of the system is as follows Figure 3 shown.

[0108] (2) Next, define the bandwidth of the first-order ADRC as Then ω c =(1+2λ)ω A ,

[0109] but k p =(1+2λ)ω A , at this time, the parameters to be tuned include ω A ,λ and b0. Then G r (s), G y (s) can be restated as

[0110]

[0111] like Figure 3 The closed-loop transfer function of the system is:

[0112]

[0113] The closed-loop characteristic equation of the system can be written as:

[0114]

[0115] (3) Through observation Found in it They are inversely symmetric about λ, that is, if λ1 is selected and λ2=1 / λ1 is selected, the two have the same zeros and poles.

[0116] At the same time, let the previous coefficients be the same, that is, G y (s) are exactly the same, so according to the characteristic equation, the closed-loop poles are consistent.

[0117] Set the parameters of the controlled object transfer function, steady-state gain K = 1, inertia time constant T = 1 and delay time τ = 1. When λ = 0.1, we have

[0118]

[0119] When λ=10, we have

[0120]

[0121] If b 01 / b 02 =172.8 / 92.61=640 / 343, then G y (s) are exactly the same, except for G r(s).

[0122] The initial value of b0 is set to

[0123] When λ=0.1, b 01 =13.7; when λ=10, b 02 =7.35.

[0124] Start from the initial value and gradually reduce it so that the overshoot of closed-loop control is equal to 5%, and b 01 / b 02 =640 / 343, take λ=0.1, b 01 =11.5;λ=10,b 02 =6.16 to conduct simulation experiments. The experimental results are as follows Figure 4 By comparing the effects of different values of the parameter λ on the system regulation characteristics, it is found that compared with λ=0.1, when λ is 10, the system can complete the regulation process faster and reach steady state.

[0125] Through analysis, it is found that at this time G r (s) has the same poles but different zeros. When λ=0.1, G r (s) zero point is -12ω A , and when λ=10, G r (s) zero point is -2.1ω A , the absolute value of the former zero point is greater than the latter zero point.

[0126] In summary, the system adjustment time of λ=10 is faster than that of λ=0.1 because G r This is caused by the different zero points of (s).

[0127] (5) Usually the value range of λ is 0<λ≤1. In order to make λ=0.1 achieve the effect of λ=10, add a feedforward function to change G r (s) zero point, set (Because 0<λ≤1, there is ω o ≥ω c ), considering G F It is an advanced transfer function, which requires molecular reduction. At the same time, the steady-state gain is 1, so it is changed to More general processing

[0128] Usually T2=1 / ω o , but T1 is optional, its range is T1>T2, and T1 is preferably 1 / ω c , T1 may also be not equal to 1 / ω c Other values of .

[0129] Figure 5This is a simplified diagram of a feedforward first-order ADRC control system, with λ = 0.1 and a feedforward transfer function added after the set value. but Among them G r * (s) zero point is -1.2ω A , without adding the feedforward link before G r (s) zero point is -12ω A , the former is closer to the imaginary axis than the latter, so the adjustment time is shorter and the system response speed is faster.

[0130] (6) Conduct comparative experiments on different types of feedforward links and select the feedforward link that is suitable for this system.

[0131] Set the parameters λ = 0.1, b0 = 13.1, and select 4 different types of G F , respectively as well as

[0132] Figure 6 To select different feedforward links G F The response diagram of the first-order linear ADRC system at r is shown in the figure. It can be seen from the figure that when G F1 When G F2 When G F3 When G is selected, there is also a jump at 0s, with the highest amplitude being 10. F4 There is no overshoot phenomenon, but the dynamic response speed is slow.

[0133] Figure 7 To select different feedforward links G F When G is selected, the closed-loop response diagram of the first-order linear ADRC system is shown. F1 When G is selected, the system responds fastest, but in the initial stage of response, the amplitude jump phenomenon occurs. F2 and G F3 When the system overshoot does not exceed 5%, the response speed becomes significantly faster; when G F4 The system response speed slows down slightly.

[0134] Overall, the choice The effect is best.

[0135] Example 1:

[0136] like Figure 8As shown, this application compares the closed-loop response curves of the feedforward first-order ADRC, first-order linear ADRC and PI system.

[0137] Feedforward first-order ADRC uses G F2 , parameters λ=0.1,b0=13.1; first-order linear ADRC parameters λ=0.1,b0=13.1; PI controller: where k pi =0.5, T pi = 1. As can be seen from the figure, the first-order linear ADRC takes 4.46 seconds when the amplitude is 0.95, while the feedforward first-order ADRC takes 3.43 seconds when the amplitude is 0.95. The latter improves response speed by 23.1% over the former, demonstrating superior dynamic response performance. Compared to the PI controller, the feedforward first-order ADRC has a slight lag in response speed.

[0138] Example 2:

[0139] like Figure 9 As shown in the figure, a comparison chart of the anti-interference effect of feedforward first-order ADRC and PI is given, in which the feedforward first-order ADRC uses G F2 , parameters λ=0.1,b0=13.1;PI controller k pi =0.5, T pi =1.

[0140] The same white noise is added to the two controllers. Simulation calculations show that the time when the closed-loop response amplitude of the feedforward first-order ADRC reaches 0.95 is 3.63s, and the time when the closed-loop response amplitude of the PI controller reaches 0.95 is 3.98s. The maximum amplitude of the feedforward first-order ADRC is 1.054, while the maximum amplitude of the PI controller is 1.087.

[0141] In summary, when the same white noise is input, it is found that compared with the PI controller, the improved ADRC shows better performance in response speed, system stability and reliability.

[0142] Example 3:

[0143] In the main steam temperature system of 330MW circulating fluidized bed unit, the pilot zone model and the inert zone model are important components. It represents the pilot zone model. In the main steam temperature control system, it is located in the front section of the superheater and can reflect the trend of steam temperature change earlier. Represents the inert zone model, which is the part after the pre-induction zone in the superheater, describing the steam temperature variation characteristics in this area; the main steam temperature system can be simplified as

[0144] like Figure 10As shown in the figure, this application compares the control effects of ADRC and improved ADRC in a main steam temperature system. The overshoot of both the ADRC system and the improved ADRC system is 5%. The parameters of the former are λ = 0.1 and b0 = -0.385; the parameters of the latter are λ = 0.1 and b0 = -0.435. As can be seen from the figure, when the system overshoot is 5%, the time for the ADRC closed-loop response amplitude to reach 0.95 is 330.3s; the time for the improved ADRC closed-loop response amplitude to reach 0.95 is 289.7s. The improved ADRC is 12.3% faster than the first-order linear ADRC, with a significantly faster response speed.

[0145] The feedforward first-order ADRC controller optimization method provided in the embodiments of the present application can be executed by a feedforward first-order ADRC controller optimization device. In the embodiments of the present application, the feedforward first-order ADRC controller optimization device executing the feedforward first-order ADRC controller optimization method is used as an example to illustrate the feedforward first-order ADRC controller optimization device provided in the embodiments of the present application.

[0146] An embodiment of the present application also provides a feedforward first-order ADRC controller optimization device.

[0147] The feedforward first-order ADRC controller optimization device adds a feedforward link λ to the classic linear active disturbance rejection control device F .

[0148] like Figure 11 As shown, the feedforward first-order ADRC controller optimization device includes: a first processing module 1110 , a second processing module 1120 , a third processing module 1130 and a fourth processing module 1140 .

[0149] The first processing module 1110 is used to use the soaring curve method or the method of simplifying the transfer function to calculate the transfer function λ of the first-order inertial time-delay system. p The parameters of the controlled object transfer function include steady-state gain, inertia time constant and delay time;

[0150] The second processing module 1120 is used to transfer the function G p After the parameters of are identified, the corresponding linear extended state observer is expressed as:

[0151]

[0152] Where t represents time, r(t), u(t) and y(t) represent the system reference value, input value and output value respectively, z1(t) and z2(t) represent the estimated values of state variables;

[0153] The feedback rate is u0(t)=k p(r(t)-z1(t));

[0154] The compensation rate is

[0155] Using the bandwidth parameterization method, the bandwidth of the extended state observer ω is defined as o and linear error feedback rate bandwidth ω c , the linear extended state observer parameters β1 and β2 and the linear error feedback control law parameter k are calculated p , β1=2ω o , k p =ω c , then the parameters to be tuned for the first-order linear active disturbance rejection control include ω o 、ω c and the control quantity gain b0 of the extended state observer to simplify parameter tuning;

[0156] The third processing module 1130 is used to define the bandwidth of the first-order active disturbance rejection controller as Then ω c =(1+2λ)ω A , Then in the second processing module k p =(1+2λ)ω A , then the parameters to be tuned include ω A ,λ and b0;

[0157] The fourth processing module 1140 is used to add a feedforward link based on the first-order linear ADRC, that is, to add a feedforward transfer function after the set value. Among them, T1 and T2 are the parameters of the feedforward link, which is the transition link of the first-order ADRC. Then the system input r=r0G F .

[0158] According to the feedforward first-order ADRC controller optimization device provided in the embodiment of the present application, a feedforward link is added after the set value and used as the transition link of the system. A series of simulation experiments are carried out to verify the effectiveness of the method of the present application. The simulation experiment results show that the method proposed in the present application can significantly improve the dynamic response performance of the system.

[0159] The feedforward first-order ADRC controller optimization device in the embodiment of the present application can be an electronic device or a component in the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices other than a terminal. For example, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, a car electronic device, a mobile Internet device (Mobile Internet Device, MID), an augmented reality (augmented reality, AR) / virtual reality (virtual reality, VR) device, a robot, a wearable device, an ultra-mobile personal computer (Ultra-mobile personal computer, UMPC), a netbook or a personal digital assistant (Personal Digital Assistant, PDA), etc. It can also be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (Personal Computer, PC), a television (Television, TV), a teller machine or a self-service machine, etc., and the embodiment of the present application is not specifically limited.

[0160] The feedforward first-order ADRC controller optimization device in the embodiment of the present application can be a device having an operating system. The operating system can be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0161] The feedforward first-order ADRC controller optimization device provided in the embodiment of the present application can achieve Figures 1 to 10 To avoid repetition, the various processes implemented in the method embodiment are not described here.

[0162] In some embodiments, as Figure 12 As shown, an embodiment of the present application further provides an electronic device 1200, including a processor 1201, a memory 1202, and a computer program stored in the memory 1202 and executable on the processor 1201. When the program is executed by the processor 1201, the various processes of the above-mentioned feedforward first-order ADRC controller optimization method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0163] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0164] An embodiment of the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned feedforward first-order ADRC controller optimization method embodiment are implemented, and the same technical effects can be achieved. To avoid repetition, they are not described here.

[0165] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0166] An embodiment of the present application also provides a computer program product, including a computer program, which implements the above-mentioned feedforward first-order ADRC controller optimization method when executed by a processor.

[0167] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0168] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned feedforward first-order ADRC controller optimization method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0169] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0170] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0171] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the relevant technology, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0172] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

[0173] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0174] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A feedforward first-order ADRC controller optimization method, characterized in that: A feedforward link G is added to the classic linear active disturbance rejection control system. F ,include: S1: Using the soaring curve method or by simplifying the transfer function, for the first-order inertial time-delay system, the controlled object transfer function G p Identify the parameters of the controlled object transfer function, wherein the parameters in the controlled object transfer function include: steady-state gain, inertia time constant and delay time; S2: Transfer function G to the controlled object p After the parameters of are identified, the corresponding linear extended state observer is expressed as: Where t represents time, r(t), u(t) and y(t) represent the system reference value, input value and output value respectively, z1(t) and z2(t) represent the estimated values of state variables; The feedback rate is u0(t)=k p (r(t)-z1(t)); The compensation rate is Using the bandwidth parameterization method, the bandwidth of the extended state observer ω is defined as o and linear error feedback rate bandwidth ω c , the linear extended state observer parameters β1 and β2 and the linear error feedback control law parameter k are calculated p , β1=2ω o , k p =ω c , then the parameters to be tuned for the first-order linear active disturbance rejection control include ω o 、ω c and the control quantity gain b0 of the extended state observer to simplify parameter tuning; S3: Define the bandwidth of the first-order ADRC as Then ω c =(1+2λ)ω A , Then in S2 k p =(1+2λ)ω A , then the parameters to be adjusted include ω A ,λ and b0; S4: On the basis of the first-order linear ADRC, a feedforward link is added, that is, a feedforward transfer function is added after the set value. Among them, T1 and T2 are the parameters of the feedforward link, which is the transition link of the first-order ADRC. Then the system input r=r0G F .

2. The feedforward first-order ADRC controller optimization method according to claim 1, characterized in that: In S2, for a first-order inertial time-delay system as the controlled object, the transfer function is determined based on the following formula: Among them, G p (s) is the transfer function; u(s) and y(s) are the Laplace transforms of the system input u(t) and output y(t), respectively; K is the steady-state gain, T is the inertia time constant; and τ is the delay time.

3. The feedforward first-order ADRC controller optimization method according to claim 1, characterized in that: In the step S3 , the range of λ is 0<λ≤1.

4. The feedforward first-order ADRC controller optimization method according to any one of claims 1 to 3, characterized in that: In S3, the controller is designed according to the zero-pole cancellation principle. Among them, ω A is the bandwidth of the first-order ADRC; ω o is the bandwidth of the extended state observer; ω c is the linear error feedback rate bandwidth; T is the inertia time constant.

5. The feedforward first-order ADRC controller optimization method according to any one of claims 1 to 3, characterized in that: In the S4, when configuring in DCS or PLC, there is no feedforward transfer function Function; use two lead-lag links to configure, where the first numerator time constant is 0, and the denominator time constants of the two lead-lag links are the same, that is 6. The feedforward first-order ADRC controller optimization method according to any one of claims 1 to 3, characterized in that: The T2>0; the T1 is greater than the T2.

7. The feedforward first-order ADRC controller optimization method according to any one of claims 1 to 3, characterized in that: described ω c is the linear error feedback rate bandwidth; ω o is the bandwidth of the extended state observer.

8. The feedforward first-order ADRC controller optimization method according to any one of claims 1 to 3, characterized in that: In the Under the condition of , the initial value of the control quantity gain b0 of the extended state observer is determined based on the following formula:

9. The feedforward first-order ADRC controller optimization method according to claim 11, characterized in that: include: Starting from the initial value of the control quantity gain b0 of the extended state observer, gradually reducing the control quantity gain b0 of the extended state observer so that the overshoot of the closed-loop control is less than or equal to 5%; or, Starting from the initial value of the control variable gain b0 of the extended state observer, the control variable gain b0 of the extended state observer is gradually increased so that no overshoot occurs during the closed-loop control process.

10. A feedforward first-order ADRC controller optimization device, characterized in that: A feedforward link G is added to the classic linear active disturbance rejection control device. F , the device comprises: The first processing module is used to use the soaring curve method or the method of simplifying the transfer function to calculate the first-order inertial time-delay system and the controlled object transfer function G p Identify the parameters of the controlled object transfer function, wherein the parameters in the controlled object transfer function include: steady-state gain, inertia time constant and delay time; The second processing module is used to transfer the function G p After the parameters of are identified, the corresponding linear extended state observer is expressed as: Where t represents time, r(t), u(t) and y(t) represent the system reference value, input value and output value respectively, z1(t) and z2(t) represent the estimated values of state variables; The feedback rate is u0(t)=k p (r(t)-z1(t)); The compensation rate is Using the bandwidth parameterization method, the bandwidth of the extended state observer ω is defined as o and linear error feedback rate bandwidth ω c , the linear extended state observer parameters β1 and β2 and the linear error feedback control law parameter k are calculated p , β1=2ω o , k p =ω c , then the parameters to be tuned for the first-order linear active disturbance rejection control include ω o 、ω c and the control quantity gain b0 of the extended state observer to simplify parameter tuning; The third processing module is used to define the bandwidth of the first-order ADRC as Then ω C =(1+2λ)ω A , Then in the second processing module k p =(1+2λ)ω A , then the parameters to be adjusted include ω A ,λ and b0; The fourth processing module is used to add a feedforward link on the basis of the first-order linear ADRC, that is, to add a feedforward transfer function after the set value Among them, T1 and T2 are the parameters of the feedforward link, which is the transition link of the first-order ADRC. Then the system input r=r0G F .

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