An active disturbance rejection control method with lock-increment / decrement function considering feedforward

Abstract

The application provides a feedforward-considered active disturbance rejection control method with lock-increase and lock-decrease functions, which comprises the following steps: obtaining state variables and control variables of an active disturbance rejection controller at a previous moment, state variables and control variables at a current moment, a feedforward variable at the current moment, a set value and a system output, combining parameters of the active disturbance rejection controller, calculating state variables and control variables of the active disturbance rejection controller at a next moment, updating the state variables and the control variables of the active disturbance rejection controller at the previous moment and the current moment based on a lock-increase signal state and a lock-decrease signal state, and completing the feedforward-considered active disturbance rejection control method with the lock-increase and lock-decrease functions. The method is suitable for an input compensation active disturbance rejection controller, an input time delay compensation active disturbance rejection controller and a Smith prediction-based active disturbance rejection controller, and can realize the lock-increase and lock-decrease functions of various active disturbance rejection controllers, thereby providing important support for the wide application of the active disturbance rejection controller in actual industrial systems.

Description

Technical Field

[0001] This invention belongs to the field of automation technology, and in particular to a self-disturbance rejection control method with a blocking increase / decrease function that considers feedforward. Background Technology

[0002] Active disturbance rejection controllers (ADRCs) are a control concept proposed by Researcher Han Jingqing of the Institute of Systems Science, Chinese Academy of Sciences, which integrates the advantages of classical and modern control theories. To simplify parameter tuning, Professor Gao Zhiqiang further developed a linear ADRC. Due to their strong robustness, weak model dependence, strong balance tracking, and ability to resist interference contradictions, ADRCs have wide applications in motion processes, chemical processes, energy processes, and aircraft processes, demonstrating strong industrial application prospects.

[0003] In the energy, chemical, and petroleum industries, the traditional proportional-integral-derivative (PID) algorithm is widely used and has standard application function blocks. These function blocks have conventional PID calculation, upper and lower limits, and latch-up / down functions. As an alternative control strategy to the PID algorithm, the development of standard application function blocks for active disturbance rejection (ADRF) controllers is also a necessary requirement. There are many research results on conventional natural controller calculation and upper and lower limits, which can meet the requirements of standard application function blocks. However, research on the latch-up / down function of ADRF controllers is limited. Patent 202110801169.7 provides an improved method for implementing latch-up / down functionality in ADRF controllers; however, this method uses an ADRF controller state-holding method when handling latch-up / down. In fact, the latch-up logic requires that the ADRF controller output cannot increase further, but can decrease; similarly, the latch-down logic requires that the ADRF controller output cannot decrease further, but can increase. For different objects, many scholars have designed a variety of improved active disturbance rejection controllers, such as the literature Superheated steam temperature control based on modified active disturbance rejection control (Control Engineering Practice, 2019, 83: 83-97) and Predictive active disturbance rejection control for processes with time delay (ISAtransactions, 53(4), 873-881), which designed input-compensated active disturbance rejection controllers and Smith-based predictive active disturbance rejection controllers. Summary of the Invention

[0004] The purpose of this invention is to realize the latching increment / decrement function in the standard application function block of the active disturbance rejection controller. It proposes a general active disturbance rejection control method with latching increment / decrement function that strictly satisfies the latching increment / decrement logic and considers feedforward. This method can support the development of the standard application function block of the active disturbance rejection controller and provide support for the promotion and application of the active disturbance rejection controller.

[0005] The first aspect of this invention proposes an active disturbance rejection control method with blocking increment / decrease function that considers feedforward, the method comprising the following steps:

[0006] 1) Obtain the previous state variable {z} of the active disturbance rejection controller. 1pre z 2pre ... z n+1pre} and control quantity u pre The current state variables {z1, z2, ..., z} n+1} and control quantity u, current feedforward quantity u f The current setpoint r and the current system output y are used to update the previous state variable {z} according to the following formula. 1pre z 2pre ... z n+1pre} and control quantity u pre Value:

[0007] z 1pre =z1

[0008] z 2pre =z2

[0009]

[0010] z n+1pre =z n+1

[0011] u pre =u

[0012] Where n is the order of the active disturbance rejection controller;

[0013] 2) Calculate the theoretical state variable {z} of the active disturbance rejection controller under normal control conditions at the next moment. 1nextT z 2nextT ... z n+1nextT} and theoretical control quantity u nextT Value:

[0014] z 1nextT =z1+ΔT(z2+β1(y-z1)+b0(uu) f ))

[0015] z 2nextT =z2+ΔT(z3+β2(y-z1))

[0016]

[0017] z nnextT =z n +ΔT(z n+1 +β n (y-z1))

[0018] z n+1nextT =z n+1 +ΔT(β n+1 (y-z1))

[0019]

[0020] or

[0021]

[0022] Where ΔT is the sampling period; β1, ..., β n+1 b0, k1, ..., k n These are all parameters of the active disturbance rejection controller, and are given values;

[0023] 3) Obtain the latch-up increment of the active disturbance rejection controller. i and locking T d Signal state, where T i When T equals 1, it is in the locking increment state. i When T equals 0, it is in the locked / closed state. d When T equals 1, it is in the locked decrement state. d When the value is 0, it is in the locked / closed state;

[0024] Based on the theoretical state variable {z 1nextT z 2nextT ... z n+1nextT} and theoretical control quantity u nextT The values ​​of the current state variables {z1, z2, ..., z} n+1} and control quantity u, for the actual state variable {z} of the active disturbance rejection controller at the next moment. 1next z 2next ... z n+1next} and actual control quantity u next Update:

[0025] If u > u nextT T d =1 and T i =0, the actual state variable {z} of the active disturbance rejection controller at the next moment. 1next z 2next ... z n+1next} and actual control quantity u nextUpdated to:

[0026] z 1next =z 1pre

[0027] z 2next =z 2pre

[0028]

[0029] z nnext =z npre

[0030] z n+1next =z n+1pre

[0031] u next =u pre

[0032] If u≤u nextT T d =1 and T i =0, the actual state variable {z} of the active disturbance rejection controller at the next moment. 1next z 2next ..., z n+1next} and actual control quantity u next Updated to:

[0033] z 1next =z 1nextT

[0034] z 2next =z 2nextT

[0035]

[0036] z nnext =z nnextT

[0037] z n+1next =z n+1nextT

[0038] u next =u nextT

[0039] If u nextT <u、T d =0 and T i =1, the actual state variable {z} of the active disturbance rejection controller at the next moment. 1next z 2next ..., z n+1next} and actual control quantity u next Updated to:

[0040] z1next =z 1nextT

[0041] z 2next =z 2nextT

[0042]

[0043] z nnext =z nnextT

[0044] z n+1next =z n+1nextT

[0045] u next =u nextT

[0046] If u is satisfied nextT ≥u、T d =0 and T i =1, the actual state variable {z} of the active disturbance rejection controller at the next moment. 1next z 2next ... z n+1next} and actual control quantity u next Updated to:

[0047] z 1next =z 1pre

[0048] z 2next =z 2pre

[0049]

[0050] z nnext =z npre

[0051] z n+1next =z n+1pre

[0052] u next =u pre

[0053] If T is satisfied d =0 and T i =0, the actual state variable {z} of the active disturbance rejection controller at the next moment. 1next z 2next ... z n+1next} and actual control quantity u next Updated to:

[0054] z 1next =z 1nextT

[0055] z 2next =z 2nextT

[0056]

[0057] z nnext =z nnextT

[0058] z n+1next =z n+1nextT

[0059] u next =u nextT

[0060] If T is satisfied d =1 and T i =1, the actual state variable {z} of the active disturbance rejection controller at the next moment. 1next z 2next ... z n+1next} and actual control quantity u next Updated to:

[0061] z 1next =z 1pre

[0062] z 2next =z 2pre

[0063]

[0064] z nnext =z npre

[0065] z n+1next =z n+1pre

[0066] u next =u pre

[0067] 4) The closed-loop system proceeds to the next calculation cycle, and the actual state variable {z} of the active disturbance rejection controller at the previous moment... 1pre z 2pre ... z n+1pre} and actual control quantity u pre Updated to the current state variables {z1, z2, ..., z} of the active disturbance rejection controller from the previous calculation cycle. n+1} and control variable u, the current state variables {z1, z2, ..., z} of the active disturbance rejection controller. n+1 The control variable u is updated to the actual state variable {z} at the next time step. 1next z 2next ... z n+1next} and actual control quantity u next Then begin the calculation for the next moment.

[0068] A second aspect of this invention proposes a first-order input-compensated active disturbance rejection control method with latch-up / decrease function that considers feedforward, the method comprising the following steps:

[0069] 1) Obtain the previous state variable {z} of the first-order input-compensated active disturbance rejection controller. 1pre z 2pre u 1pre u 2pre 、…、u ipre} and control quantity u pre The current state variables {z1, z2, u1, u2, ..., u} i1} and control quantity u, current feedforward quantity u f The current setpoint r and the current system output y are used to update the previous state variable {z} according to the following formula. 1pre z 2pre u 1pre u 2pre 、…、u ipre} and control quantity u pre Value:

[0070] z 1pre =z1

[0071] z 2pre =z2

[0072] u 1pre =u1

[0073]

[0074] u ipre =u i

[0075] u = u

[0076] pre

[0077] Where i is the order of the input compensation, i∈[1,n];

[0078] 2) Calculate the theoretical state variable {z} of the first-order input-compensated active disturbance rejection controller under the normal control condition at the next moment. 1nextT z 2nextT u 1nextT u 2nextT 、…、u inextT} and theoretical control quantity u nextT Value:

[0079]

[0080]

[0081]

[0082]

[0083] z 1nextT =z1+ΔT(z2+β1(y-z1)+b0(u) inextT -u f ))

[0084] z 2nextT =z2+ΔT(β2(y-z1))

[0085]

[0086] or

[0087]

[0088] Where ΔT is the sampling period, β1, β2, b0, and k1 are all parameters of the first-order input compensation active disturbance rejection controller, which are given values; T is the compensation time constant of the first-order input compensation active disturbance rejection controller.

[0089] 3) Obtain the latch-up increment T of the first-order input compensation active disturbance rejection controller. i and locking T d Signal state, where T i When T equals 1, it is in the locking increment state. i When T equals 0, it is in the locked / closed state. d When T equals 1, it is in the locked decrement state. d When the value is 0, it is in the locked / closed state;

[0090] Based on the theoretical state variable {z 1nextT z 2nextT u 1nextT u 2nextT 、…、u inextT} and theoretical control quantity u nextT The values ​​of the current state variables {z1, z2, u1, u2, ..., u} i1} and control quantity u, for the actual state variable {z} of the first-order input compensated active disturbance rejection controller at the next moment. 1next z 2next u 1next u 2next 、…、u inext} and actual control quantity u next Update:

[0091] If u > u nextT Td =1 and T i =0, the actual state variable {z} of the first-order input-compensated active disturbance rejection controller at the next moment. 1next z 2next u 1next u 2next 、…、u inext} and actual control quantity u next Updated to:

[0092] u 1next =u 1pre

[0093]

[0094] u inext =u ipre

[0095] z 1next =z 1pre

[0096] z 2next =z 2pre

[0097] u next =u pre

[0098] If u≤u nextT T d =1 and T i =0, the actual state variable {z} of the first-order input-compensated active disturbance rejection controller at the next moment. 1next z 2next u 1next u 2next 、…、u inext} and actual control quantity u next Updated to:

[0099] u 1next =u 1nextT

[0100]

[0101] u inext =u inextT

[0102] z 1next =z 1nextT

[0103] z 2next =z 2nextT

[0104] u next =u nextT

[0105] If u is satisfied nextT <u、T d =0 and T i =1, the actual state variable {z} of the first-order input-compensated active disturbance rejection controller at the next moment. 1next z 2next u 1next u 2next 、…、u inext} and actual control quantity u next Updated to:

[0106] u 1next =u 1nextT

[0107]

[0108] u inext =u inextT

[0109] z 1next =z 1nextT

[0110] z 2next =z 2nextT

[0111] u next =u nextT

[0112] If u is satisfied nextT ≥u、T d =0 and T i =1, the actual state variable {z} of the first-order input-compensated active disturbance rejection controller at the next moment. 1next z 2next u 1next u 2next 、…、u inext} and actual control quantity u next Updated to:

[0113] u 1next =u 1pre

[0114]

[0115] u inext =u ipre

[0116] z 1next =z 1pre

[0117] z 2next =z 2pre

[0118] u next =u pre

[0119] If T is satisfied d =0 and T i =0, the actual state variable {z} of the first-order input-compensated active disturbance rejection controller at the next moment. 1next z 2next u 1next u 2next 、…、u inext} and actual control quantity u next Updated to:

[0120] u 1next =u 1nextT

[0121]

[0122] u inext =u inextT

[0123] z 1next =z 1nextT

[0124] z 2next =z 2nextT

[0125] u next =u nextT

[0126] If T is satisfied d =1 and T i =1, the actual state variable {z} of the first-order input-compensated active disturbance rejection controller at the next moment. 1next z 2next u 1next u 2next 、…、u inext} and actual control quantity u next Updated to:

[0127] u 1next =u 1pre

[0128]

[0129] u inext =u ipre

[0130] z 1next =z 1pre

[0131] z 2next =z 2pre

[0132] u next =u pre

[0133] 4) The closed-loop system proceeds to the next calculation cycle, and the actual state variable {z} of the first-order input compensation active disturbance rejection controller at the previous moment is... 1pre z 2pre u 1pre u 2pre 、…、u ipre} and actual control quantity u pre Updated to the current state variables {z1, z2, u1, u2, ..., u...} of the first-order input compensation active disturbance rejection controller from the previous calculation cycle. i1} and control quantity u, the current state variables {z1, z2, u1, u2, ..., u} of the first-order input compensated active disturbance rejection controller. i1 The control variable u is updated to the actual state variable {z} at the next time step. 1next z 2next u 1next u 2next 、…、u inext} and actual control quantity u next Then begin the calculation for the next moment.

[0134] A third aspect of this invention proposes a first-order active disturbance rejection control method based on Smith predictor with a blocking increment / decrement function that considers feedforward. The method includes the following steps:

[0135] 1) Obtain the previous state variable {z} of the first-order active disturbance rejection controller based on Smith prediction. 1pre z 2pre y 1pre y 2pre} and control quantity u pre The current state variables {z1, z2, y1, y2} and control variable u, and the current feedforward variable u. f The current setpoint r and the current system output y are used to update the previous state variable {z} according to the following formula. 1pre z 2pre y 1pre y 2pre} and control quantity u pre Value:

[0136] z 1pre =z1

[0137] z 2pre =z2

[0138] y 1pre =y1

[0139] y 2pre =y2

[0140] u pre =u

[0141] 2) Calculate the theoretical state variable {z} of the first-order active disturbance rejection controller based on Smith predictor under the normal control condition at the next moment. 1nextT z 2nextT y 1nextT y 2nextT} and theoretical control quantity u nextT Value:

[0142]

[0143] y 2nextT =y 1nextT e -Ls

[0144] z 1nextT =z1+ΔT(z2+β1(yy) 2nextT +y 1nextT -z1)+b0(uu f ))

[0145] z 2nextT =z2+ΔT(β2(y-z1))

[0146]

[0147] or

[0148]

[0149] Where ΔT is the sampling period; β1, β2, b0, and k1 are the parameters of the first-order active disturbance rejection controller based on Smith prediction, which are given values; T, K, and L are the model parameters in the first-order active disturbance rejection controller based on Smith prediction; e and s are the delay factor and Laplace operator of the transfer function, respectively.

[0150] 3) Obtain the first-order latch-up increase T based on the Smith predictor-based active disturbance rejection controller. i and locking T d Signal state, where T i When T equals 1, it is in the locking increment state. i When T equals 0, it is in the locked / closed state. d When T equals 1, it is in the locked decrement state. d When the value is 0, it is in the locked / closed state;

[0151] Based on the theoretical state variable {z 1nextT z 2nextT y 1nextT y 2nextT} and theoretical control quantity u nextT Given the values ​​of the current state variables {z1, z2, y1, y2} and the control variable u, the actual state variable {z1, z2, y1, y2} at the next moment of the first-order active disturbance rejection controller based on Smith prediction is given. 1next z 2next y 1next y 2next} and actual control quantity u next Update:

[0152] If u > u nextT T d =1 and T i =0, the actual state variable {z} of the first-order active disturbance rejection controller at the next moment based on the Smith prediction. 1next z 2next y 1next y 2next} and actual control quantity u next Updated to:

[0153] y 1next =y 1pre

[0154] y 2next =y 2pre

[0155] z 1next =z 1pre

[0156] z 2next =z 2pre

[0157] u next =u pre

[0158] If u≤u nextT T d =1 and T i =0, the actual state variable {z} of the first-order active disturbance rejection controller at the next moment based on the Smith prediction. 1next z 2next y 1next y 2next} and actual control quantity u next Updated to:

[0159] y 1next =y 1nextT

[0160] y 2next =y 2nextT

[0161] z 1next =z 1nextT

[0162] z 2next =z 2nextT

[0163] u next =u nextT

[0164] If u is satisfied nextT <u、T d =0 and T i =1, the actual state variable {z} of the first-order active disturbance rejection controller at the next moment based on the Smith prediction. 1next z 2next y 1next y 2next} and actual control quantity u next Updated to:

[0165] y 1next =y 1nextT

[0166] y 2next =y 2nextT

[0167] z 1next =z 1nextT

[0168] z 2next =z 2nextT

[0169] u next =u nextT

[0170] If u is satisfied nextT ≥u、T d =0 and T i =1, the actual state variable {z} of the first-order active disturbance rejection controller at the next moment based on the Smith prediction. 1next z 2next y 1next y 2next} and actual control quantity u next Updated to:

[0171] y 1next =y 1pre

[0172] y 2next =y 2pre

[0173] z 1next =z 1pre

[0174] z 2next =z 2pre

[0175] u next =u pre

[0176] If T is satisfied d =0 and T i =0, the actual state variable {z} of the first-order active disturbance rejection controller at the next moment based on the Smith prediction. 1next z 2next y 1next y 2next} and actual control quantity u next Updated to:

[0177] y 1next =y 1nextT

[0178] y 2next =y 2nextT

[0179] z 1next =z 1nextT

[0180] z 2next =z 2nextT

[0181] u next =u nextT

[0182] If T is satisfied d =1 and T i =1, the actual state variable {z} of the first-order active disturbance rejection controller at the next moment based on the Smith prediction. 1next z 2next y 1next y 2next} and actual control quantity u next Updated to:

[0183] y 1next =y 1pre

[0184] y 2next =y 2pre

[0185] z 1next =z 1pre

[0186] z 2next =z 2pre

[0187] u next =u pre

[0188] 4) The closed-loop system proceeds to the next calculation cycle, and the first-order estimated real state variable {z} of the active disturbance rejection controller at the previous moment is calculated. 1pre z 2pre y 1pre y 2pre} and actual control quantity u pre The current state variables {z1, z2, y1, y2} and control input u of the first-order Smith-estimated active disturbance rejection controller (ADRC) based on the previous calculation cycle are updated to the actual state variables {z1, z2, y1, y2} of the ADRC based on the previous calculation cycle. 1next z 2next y 1next y 2next} and actual control quantity u next Then begin the calculation for the next moment.

[0189] A fourth aspect of the present invention provides a latching-up / down active disturbance rejection control device, applied to an active disturbance rejection controller considering feedforward, comprising:

[0190] The acquisition module is used to acquire the state variables and control quantities of the active disturbance rejection controller at the previous moment, the state variables and control quantities at the current moment, the feedforward quantity at the current moment, the setpoint at the current moment, and the system output at the current moment; it is also used to acquire the blocking increase signal state and the blocking decrease signal state of the active disturbance rejection controller.

[0191] The calculation module is used to calculate the theoretical state variables and theoretical control quantities of the active disturbance rejection controller under the normal control condition at the next moment.

[0192] The control module is used to update the actual state variables and actual control quantities of the active disturbance rejection controller at the next moment based on the values ​​of theoretical state variables and theoretical control quantities, the current state variables and control quantities;

[0193] It is also used to control the closed-loop system to perform the next calculation cycle;

[0194] The acquisition module, the calculation module, and the control module are respectively connected to implement the active disturbance rejection control method with blocking increment / decrease function considering feedforward as described in claim 1; or

[0195] To implement the first-order input compensation active disturbance rejection control method with latch-up / decrease function considering feedforward as described in claim 2; or

[0196] This is used to implement the first-order Smith predictor-based active disturbance rejection control method with blocking increment / decrease function that considers feedforward as described in claim 3.

[0197] A fifth aspect of the present invention provides an electronic device comprising: at least one processor and a memory;

[0198] The memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, causing the at least one processor to perform the active disturbance rejection control method with latch-up / decrease function that considers feedforward, as described above; or

[0199] The first-order input-compensated active disturbance rejection control method with latch-up / decrease function that considers feedforward; or

[0200] The first-order active disturbance rejection control method based on Smith predictor with a blocking increase / decrease function that considers feedforward is described.

[0201] A sixth aspect of the present invention provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the active disturbance rejection control method with latching increment / decrement function considering feedforward, as described above; or

[0202] The first-order input-compensated active disturbance rejection control method with latch-up / decrease function that considers feedforward; or

[0203] The first-order active disturbance rejection control method based on Smith predictor with a blocking increase / decrease function that considers feedforward is described.

[0204] The key features and significant advantages of this invention are as follows: The active disturbance rejection control (ADRC) method proposed in this invention obtains the previous state variables and control variables, the current state variables and control variables, the current feedforward and setpoint, and the system output of the ADRC. Combined with the ADRC parameters, it calculates the next state variables and control variables of the ADRC. Based on the latch-up and latch-down signal states, it updates the previous and current state variables and control variables of the ADRC. This method can realize various latch-up / latch-down functions of ADRCs, supports the development of standard application function blocks for ADRCs, and provides important support for the widespread application of ADRCs in practical industrial systems. Attached Figure Description

[0205] Figure 1 This is a flowchart illustrating the implementation steps of the active disturbance rejection control method in Example 1.

[0206] Figure 2 The results are simulation results from a specific embodiment. Detailed Implementation

[0207] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0208] Example 1

[0209] like Figure 1 As shown, this embodiment proposes an active disturbance rejection control method with blocking increment / decrease function that considers feedforward, including the following steps:

[0210] Step 101: Obtain the previous state variable {z} of the active disturbance rejection controller. 1pre z 2pre ... z n+1pre} and control quantity u pre The current state variables {z1, z2, ..., z} n+1} and control quantity u, current feedforward quantity u f The current setpoint r and the current system output y are used to update the previous state variable {z} according to the following formula. 1pre z 2pre ... z n+1pre} and control quantity u pre Value:

[0211] z 1pre =z1

[0212] z 2pre =z2

[0213]

[0214] z n+1pre =z n+1

[0215] u = u

[0216] pre

[0217] Where n is the order of the active disturbance rejection controller.

[0218] Step 102: Calculate the theoretical state variable {z} of the active disturbance rejection controller under normal control conditions at the next moment. 1nextT z 2nextT ... z n+1nextT} and theoretical control quantity u nextT Value:

[0219] z 1nextT =z1+ΔT(z2+β1(y-z1)+b0(uu) f ))

[0220] z 2nextT =z2+ΔT(z3+β2(y-z1))

[0221]

[0222] z nnextT =z n +ΔT(z n+1 +βn (y-z1))

[0223] z n+1nextT =z n+1 +ΔT(β n+1 (y-z1))

[0224]

[0225] or

[0226]

[0227] Where ΔT is the sampling period; β1, ..., β n+1 b0, k1, ..., k n These are all parameters of the active disturbance rejection controller, and are given values.

[0228] Step 103: Obtain the latch-up increment T of the active disturbance rejection controller. i and locking T d Signal state, where T i When T equals 1, it is in the locking increment state. i When T equals 0, it is in the locked / closed state. d When T equals 1, it is in the locked decrement state. d When the value is 0, it is in the locked / closed state;

[0229] Based on the theoretical state variable {z 1nextT z 2nextT ... z n+1nextT} and theoretical control quantity u nextT The values ​​of the current state variables {z1, z2, ..., z} n+1} and control quantity u, for the actual state variable {z} of the active disturbance rejection controller at the next moment. 1next z 2next ... z n+1next} and actual control quantity u next Update:

[0230] ① If u > u nextT T d =1 and T i =0, the actual state variable {z} of the active disturbance rejection controller at the next moment. 1next z 2next ... z n+1next} and actual control quantity u next Updated to:

[0231] z 1next =z 1pre

[0232] z 2next =z2pre

[0233]

[0234] z nnext =z npre

[0235] z n+1next =z n+1pre

[0236] u next =u pre

[0237] ②If u≤u nextT T d =1 and T i =0, the actual state variable {z} of the active disturbance rejection controller at the next moment. 1next z 2next ... z n+1next} and actual control quantity u next Updated to:

[0238] z 1next =z 1nextT

[0239] z 2next =z 2nextT

[0240]

[0241] z nnext =z nnextT

[0242] z n+1next =z n+1nextT

[0243] u next =u nextT

[0244] ③ If u is satisfied nextT <u、T d =0 and T i =1, the actual state variable {z} of the active disturbance rejection controller at the next moment. 1next z 2next ... z n+1next} and actual control quantity u next Updated to:

[0245] z 1next =z 1nextT

[0246] z 2next =z 2nextT

[0247]

[0248] z nnext =z nnextT

[0249] z n+1next =z n+1nextT

[0250] u next =u nextT

[0251] ④ If u is satisfied nextT ≥u、T d =0 and T i =1, the actual state variable {z} of the active disturbance rejection controller at the next moment. 1next z 2next ... z n+1next} and actual control quantity u next Updated to:

[0252] z 1next =z 1pre

[0253] z 2next =z 2pre

[0254]

[0255] z nnext =z npre

[0256] z n+1next =z n+1pre

[0257] u next =u pre

[0258] ⑤ If T is satisfied d =0 and T i =0, the actual state variable {z} of the active disturbance rejection controller at the next moment. 1next z 2next ... z n+1next} and actual control quantity u next Updated to:

[0259] z 1next =z 1nextT

[0260] z 2next =z 2nextT

[0261]

[0262] z nnext =z nnextT

[0263] z n+1next =z n+1nextT

[0264] u next =u nextT

[0265] ⑥ If T is satisfied d =1 and T i =1, the actual state variable {z} of the active disturbance rejection controller at the next moment. 1next z 2next ... z n+1next} and actual control quantity u next Updated to:

[0266] z 1next =z 1pre

[0267] z 2next =z 2pre

[0268]

[0269] z nnext =z npre

[0270] z n+1next =z n+1pre

[0271] u next =u pre

[0272] Step 104: The closed-loop system proceeds to the next calculation cycle. The actual state variable {z} of the active disturbance rejection controller at the previous moment... 1pre z 2pre ... z n+1pre} and actual control quantity u pre Updated to the current state variables {z1, z2, ..., z} of the active disturbance rejection controller from the previous calculation cycle. n+1} and control variable u, the current state variables {z1, z2, ..., z} of the active disturbance rejection controller. n+1 The control variable u is updated to the actual state variable {z} at the next time step. 1next z 2next ... z n+1next} and actual control quantity u next Then begin the calculation for the next moment.

[0273] By completing steps 101-104, the active disturbance rejection control method with blocking addition and subtraction function that takes feedforward into account in Example 1 can be completed.

[0274] Simulation test

[0275] For the active disturbance rejection controller implemented with the above algorithm, the output under the following conditions is as follows: (The output is shown in the original text.) Figure 2 As shown, sub Figure 1 In the middle: the thin solid line represents the theoretical control quantity; the thick dashed line represents the output under the conditions of simultaneous lockout increase, lockout decrease, lockout increase / decrease, and lockout decrease / decrease, as well as simultaneous lockout decrease / decrease and lockout deactivation. Figure 2 Sub-figure 3 shows the changes in the interlocking increase signal; Sub-figure 4 shows the changes in the interlocking decrease signal; From Figure 2 As can be seen from the present invention, the active disturbance rejection controller with blocking addition and reduction function that takes into account feedforward has complete blocking addition and reduction function, which shows that the present invention can well support the development of standard application function blocks of active disturbance rejection controller, and provide important support for the widespread application of active disturbance rejection controller in actual industrial systems.

[0276] Example 2

[0277] This embodiment provides a first-order input-compensated active disturbance rejection control method with a blocking increment / decrement function that considers feedforward. The method includes the following steps:

[0278] Step 201: Obtain the previous state variable {z} of the first-order input compensation active disturbance rejection controller. 1pre z 2pre u 1pre u 2pre 、…、u ipre} and control quantity u pre The current state variables {z1, z2, u1, u2, ..., u} i1} and control quantity u, current feedforward quantity u f The current setpoint r and the current system output y are used to update the previous state variable {z} according to the following formula. 1pre z 2pre u 1pre u 2pre 、…、u ipre} and control quantity u pre Value:

[0279] z 1pre =z1

[0280] z 2pre =z2

[0281] u 1pre =u1

[0282]

[0283] u ipre =u i

[0284] u pre =u

[0285] Where i is the order of the input compensation, i∈[1,n].

[0286] Step 202: Calculate the theoretical state variable {z} of the first-order input-compensated active disturbance rejection controller under the normal control condition at the next moment. 1nextT z 2nextT u 1nextT u 2nextT 、…、u inextT} and theoretical control quantity u nextT Value:

[0287]

[0288]

[0289]

[0290]

[0291] z 1nextT =z1+ΔT(z2+β1(y-z1)+b0(u) inextT -u f ))

[0292] z 2nextT =z2+ΔT(β2(y-z1))

[0293]

[0294] or

[0295]

[0296] Where ΔT is the sampling period, β1, β2, b0, and k1 are all parameters of the first-order input compensation active disturbance rejection controller, which are given values; and T is the compensation time constant of the first-order input compensation active disturbance rejection controller.

[0297] Step 203: Obtain the latch-up increment T of the first-order input compensation active disturbance rejection controller. i and locking T d Signal state, where T i When T equals 1, it is in the locking increment state. i When T equals 0, it is in the locked / closed state. d When T equals 1, it is in the locked decrement state.d When the value is 0, it is in the locked / closed state;

[0298] Based on the theoretical state variable {z 1nextT z 2nextT u 1nextT u 2nextT 、…、u inextT} and theoretical control quantity u nextT The values ​​of the current state variables {z1, z2, u1, u2, ..., u} i1} and control quantity u, for the actual state variable {z} of the first-order input compensated active disturbance rejection controller at the next moment. 1next z 2next u 1next u 2next 、…、u inext} and actual control quantity u next Update:

[0299] ① If u > u nextT T d =1 and T i =0, the actual state variable {z} of the first-order input-compensated active disturbance rejection controller at the next moment. 1next z 2next u 1next u 2next 、…、u inext} and actual control quantity u next Updated to:

[0300] u 1next =u 1pre

[0301]

[0302] u inext =u ipre

[0303] z 1next =z 1pre

[0304] z 2next =z 2pre

[0305] u next =u pre

[0306] ②If u≤u nextT T d =1 and T i =0, the actual state variable {z} of the first-order input-compensated active disturbance rejection controller at the next moment. 1next z 2next u1next u 2next 、…、u inext} and actual control quantity u next Updated to:

[0307] u 1next =u 1nextT

[0308]

[0309] u inext =u inextT

[0310] z 1next =z 1nextT

[0311] z 2next =z 2nextT

[0312] u next =u nextT

[0313] ③ If u is satisfied nextT <u、T d =0 and T i =1, the actual state variable {z} of the first-order input-compensated active disturbance rejection controller at the next moment. 1next z 2next u 1next u 2next 、…、u inext} and actual control quantity u next Updated to:

[0314] u 1next =u 1nextT

[0315]

[0316] u inext =u inextT

[0317] z 1next =z 1nextT

[0318] z 2next =z 2nextT

[0319] u next =u nextT

[0320] ④ If u is satisfied nextT ≥u、T d =0 and T i=1, the actual state variable {z} of the first-order input-compensated active disturbance rejection controller at the next moment. 1next z 2next u 1next u 2next 、…、u inext} and actual control quantity u next Updated to:

[0321] u 1next =u 1pre

[0322]

[0323] u inext =u ipre

[0324] z 1next =z 1pre

[0325] z 2next =z 2pre

[0326] u next =u pre

[0327] ⑤ If T is satisfied d =0 and T i =0, the actual state variable {z} of the first-order input-compensated active disturbance rejection controller at the next moment. 1next z 2next u 1next u 2next 、…、u inext} and actual control quantity u next Updated to:

[0328] u 1next =u 1nextT

[0329]

[0330] u inext =u inextT

[0331] z 1next =z 1nextT

[0332] z 2next =z 2nextT

[0333] u next =u nextT

[0334] ⑥ If T is satisfied d =1 and Ti =1, the actual state variable {z} of the first-order input-compensated active disturbance rejection controller at the next moment. 1next z 2next u 1next u 2next 、…、u inext} and actual control quantity u next Updated to:

[0335] u 1next =u 1pre

[0336]

[0337] u inext =u ipre

[0338] z 1next =z 1pre

[0339] z 2next =z 2pre

[0340] u next =u pre

[0341] 4) The closed-loop system proceeds to the next calculation cycle, and the actual state variable {z} of the first-order input compensation active disturbance rejection controller at the previous moment is... 1pre z 2pre u 1pre u 2pre 、…、u ipre} and actual control quantity u pre Updated to the current state variables {z1, z2, u1, u2, ..., u...} of the first-order input compensation active disturbance rejection controller from the previous calculation cycle. i1} and control quantity u, the current state variables {z1, z2, u1, u2, ..., u} of the first-order input compensated active disturbance rejection controller. i1 The control variable u is updated to the actual state variable {z} at the next time step. 1next z 2next u 1next u 2next 、…、u inext} and actual control quantity u next Then begin the calculation for the next moment.

[0342] By completing steps 201-204, the active disturbance rejection control method with blocking addition and subtraction function that takes into account feedforward in Example 2 can be completed.

[0343] Example 3

[0344] This embodiment provides a first-order active disturbance rejection control method based on Smith predictor with a blocking increase / decrease function that considers feedforward. The method includes the following steps:

[0345] Step 301: Obtain the previous state variable {z} of the first-order active disturbance rejection controller based on Smith prediction. 1pre z 2pre y 1pre y 2pre} and control quantity u pre The current state variables {z1, z2, y1, y2} and control variable u, and the current feedforward variable u. f The current setpoint r and the current system output y are used to update the previous state variable {z} according to the following formula. 1pre z 2pre y 1pre y 2pre} and control quantity u pre Value:

[0346] z 1pre =z1

[0347] z 2pre =z2

[0348] y 1pre =y1

[0349] y 2pre =y2

[0350] u pre =u

[0351] Step 302: Calculate the theoretical state variable {z} of the first-order active disturbance rejection controller under the normal control condition at the next moment based on the Smith predictor. 1nextT z 2nextT y 1nextT y 2nextT} and theoretical control quantity u nextT Value:

[0352]

[0353] y 2nextT =y 1nextT e -Ls

[0354] z 1nextT =z1+ΔT(z2+β1(yy) 2nextT +y 1nextT -z1)+b0(uu f ))

[0355] z 2nextT =z2+ΔT(β2(y-z1))

[0356]

[0357] or

[0358]

[0359] Where ΔT is the sampling period; β1, β2, b0, and k1 are the parameters of the first-order active disturbance rejection controller based on Smith prediction, which are given values; T, K, and L are the model parameters in the first-order active disturbance rejection controller based on Smith prediction; e and s are the delay factor and Laplace operator of the transfer function, respectively.

[0360] Step 303: Obtain the first-order latch-up increase T based on the Smith predictor active disturbance rejection controller. i and locking T d Signal state, where T i When T equals 1, it is in the locking increment state. i When T equals 0, it is in the locked / closed state. d When T equals 1, it is in the locked decrement state. d When the value is 0, it is in the locked / closed state;

[0361] Based on the theoretical state variable {z 1nextT z 2nextT y 1nextT y 2nextT} and theoretical control quantity u nextT Given the values ​​of the current state variables {z1, z2, y1, y2} and the control variable u, the actual state variable {z1, z2, y1, y2} at the next moment of the first-order active disturbance rejection controller based on Smith prediction is given. 1next z 2next y 1next y 2next} and actual control quantity u next Update:

[0362] ① If u > u nextT T d =1 and T i =0, the actual state variable {z} of the first-order active disturbance rejection controller at the next moment based on the Smith prediction. 1next z 2next y 1next y 2next} and actual control quantity u next Updated to:

[0363] y 1next =y 1pre

[0364] y 2next =y 2pre

[0365] z 1next =z 1pre

[0366] z 2next =z 2pre

[0367] u next =u pre

[0368] ②If u≤u nextT T d =1 and T i =0, the actual state variable {z} of the first-order active disturbance rejection controller at the next moment based on the Smith prediction. 1next z 2next y 1next y 2next} and actual control quantity u next Updated to:

[0369] y 1next =y 1nextT

[0370] y 2next =y 2nextT

[0371] z 1next =z 1nextT

[0372] z 2next =z 2nextT

[0373] u next =u nextT

[0374] ③ If u is satisfied nextT <u、T d =0 and T i =1, the actual state variable {z} of the first-order active disturbance rejection controller at the next moment based on the Smith prediction. 1next z 2next y 1next y 2next} and actual control quantity u next Updated to:

[0375] y 1next =y 1nextT

[0376] y 2next =y 2nextT

[0377] z 1next =z 1nextT

[0378] z 2next =z 2nextT

[0379] u next =u nextT

[0380] ④ If u is satisfied nextT ≥u、T d =0 and T i =1, the actual state variable {z} of the first-order active disturbance rejection controller at the next moment based on the Smith prediction. 1next z 2next y 1next y 2next} and actual control quantity u next Updated to:

[0381] y 1next =y 1pre

[0382] y 2next =y 2pre

[0383] z 1next =z 1pre

[0384] z 2next =z 2pre

[0385] u next =u pre

[0386] ⑤ If T is satisfied d =0 and T i =0, the actual state variable {z} of the first-order active disturbance rejection controller at the next moment based on the Smith prediction. 1next z 2next y 1next y 2next} and actual control quantity u next Updated to:

[0387] y 1next =y 1nextT

[0388] y 2next =y 2nextT

[0389] z 1next =z 1nextT

[0390] z 2next =z 2nextT

[0391] u next=u nextT

[0392] ⑥ If T is satisfied d =1 and T i =1, the actual state variable {z} of the first-order active disturbance rejection controller at the next moment based on the Smith prediction. 1next z 2next y 1next y 2next} and actual control quantity u next Updated to:

[0393]

[0394] Step 304: The closed-loop system proceeds to the next calculation cycle, calculating the actual state variable {z} of the first-order active disturbance rejection controller based on the Smith prediction from the previous moment. 1pre z 2pre y 1pre y 2pre} and actual control quantity u pre The current state variables {z1, z2, y1, y2} and control input u of the first-order Smith-estimated active disturbance rejection controller (ADRC) based on the previous calculation cycle are updated to the actual state variables {z1, z2, y1, y2} of the ADRC based on the previous calculation cycle. 1next z 2next y 1next y 2next} and actual control quantity u next Then begin the calculation for the next moment.

[0395] By completing steps 301-304, the active disturbance rejection control method with blocking addition and subtraction function that takes feedforward into account in Example 3 can be completed.

[0396] Example 4

[0397] This embodiment provides a latching-up / down active disturbance rejection control device, applied to an active disturbance rejection controller considering feedforward, including:

[0398] The acquisition module is used to acquire the state variables and control quantities of the active disturbance rejection controller at the previous moment, the state variables and control quantities at the current moment, the feedforward quantity at the current moment, the setpoint at the current moment, and the system output at the current moment; it is also used to acquire the blocking increase signal state and the blocking decrease signal state of the active disturbance rejection controller.

[0399] The calculation module is used to calculate the theoretical state variables and theoretical control quantities of the active disturbance rejection controller under the normal control condition at the next moment.

[0400] The control module is used to update the actual state variables and actual control quantities of the active disturbance rejection controller at the next moment based on the values ​​of theoretical state variables and theoretical control quantities, the current state variables and control quantities;

[0401] It is also used to control the closed-loop system to perform the next calculation cycle;

[0402] The acquisition module, the calculation module, and the control module are respectively connected to implement the active disturbance rejection control method with blocking addition and subtraction function considering feedforward described in Embodiment 1; or

[0403] To implement the first-order input compensation active disturbance rejection control method with latch-up / decrease function that considers feedforward as described in Example 2; or

[0404] This is used to implement the first-order Smith predictor-based active disturbance rejection control method with blocking addition and subtraction function that considers feedforward as described in Example 3.

[0405] Example 5

[0406] This embodiment provides an electronic device, including: at least one processor and a memory;

[0407] The memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, causing the at least one processor to perform the active disturbance rejection control method with latch-up / decrease function considering feedforward as described in Embodiment 1; or

[0408] The first-order input compensation active disturbance rejection control method with latch-up / decrease function considering feedforward described in Example 2; or

[0409] Example 3 describes a first-order active disturbance rejection control method based on Smith prediction with a blocking addition / reduction function that considers feedforward.

[0410] Example 6

[0411] This embodiment provides a computer-readable storage medium storing computer-executable instructions. When a processor executes these instructions, it implements the active disturbance rejection control method with latch-up / decrease function that considers feedforward, as described in Embodiment 1; or

[0412] The first-order input compensation active disturbance rejection control method with latch-up / decrease function considering feedforward described in Example 2; or

[0413] Example 3 describes a first-order active disturbance rejection control method based on Smith prediction with a blocking addition / reduction function that considers feedforward.

[0414] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is merely an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0415] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A self-disturbance rejection control method with blocking increase / decrease function considering feedforward, characterized in that, The method includes the following steps: 1) Obtain the previous state variable {z} of the active disturbance rejection controller. 1pre z 2pre ..., z n+1pre } and control quantity u pre The current state variables {z1, z2, ..., z} n+1 } and control quantity u, current feedforward quantity u f The current setpoint r and the current system output y are used to update the previous state variable {z} according to the following formula. 1pre z 2pre ..., z n+1pre } and control quantity u pre Value: With 1pre =z1 With 2pre =z2 With n+1pre =z n+1 in pre =in Where n is the order of the active disturbance rejection controller; 2) Calculate the theoretical state variable {z} of the active disturbance rejection controller under normal control conditions at the next moment. 1nextT z 2nextT ..., z n+1nextT } and theoretical control quantity u nextT Value: mm 1nextT = z1+ΔT(z2+β1(y-z1)+b0(uu f )) z 2nextT =z2+ΔT(z3+β2(y-z1)) With nnextT =z n +ΔT(z n+1 +β n (y-z1)) With n+1nextT =z n+1 +ΔT(β n+1 (y-z1)) or Where ΔT is the sampling period; β1, ..., β n+1 b0, k1, ..., k n These are all parameters of the active disturbance rejection controller, and are given values; 3) Obtain the latch-up increment of the active disturbance rejection controller. i and locking T d Signal state, where T i When T equals 1, it is in the locking increment state. i When T equals 0, it is in the locked / closed state. d When T equals 1, it is in the locked decrement state. d When the value is 0, it is in the locked / closed state; Based on the theoretical state variable {z 1nextT z 2nextT ..., z n+1nextT } and theoretical control quantity u nextT The values ​​of the current state variables {z1, z2, ..., z} n+1 } and control quantity u, for the actual state variable {z} of the active disturbance rejection controller at the next moment. 1next z 2next ..., z n+1next } and actual control quantity u next Update: If u > u nextT T d =1 and T i =0, the actual state variable {z} of the active disturbance rejection controller at the next moment. 1next z 2next ..., z n+1next } and actual control quantity u next Updated to: With 1next =z 1pre With 2next =z 2pre With nnext =z npre With n+1next =z n+1pre in next =in pre If u≤u nextT T d =1 and T i =0, the actual state variable {z} of the active disturbance rejection controller at the next moment. 1next z 2next ..., z n+1next } and actual control quantity u next Updated to: With 1next =z 1nextT With 2next =z 2nextT With nnext =z nnextT With n+1next =z n+1nextT in next =in nextT If u is satisfied nextT <u、T d =0 and T i =1, the actual state variable {z} of the active disturbance rejection controller at the next moment. 1next z 2next ... z n+1next } and actual control quantity u next Updated to: With 1next =z 1nextT With 2next =z 2nextT With nnext =z nnextT With n+1next =z n+1nextT in next =in nextT If u nextT ≥u、T d =0 and T i =1, the actual state variable {z} of the active disturbance rejection controller at the next moment. 1next z 2next ..., z n+1next } and actual control quantity u next Updated to: With 1next =z 1pre With 2next =z 2pre With nnext =z npre With n+1next =z n+1pre in next =in pre If T is satisfied d =0 and T i =0, the actual state variable {z} of the active disturbance rejection controller at the next moment. 1next z 2next ..., z n+1next } and actual control quantity u next Updated to: With 1next =z 1nextT With 2next =z 2nextT With nnext =z nnextT With n+1next =z n+1nextT in next =in nextT If T is satisfied d =1 and T i =1, the actual state variable {z} of the active disturbance rejection controller at the next moment. 1next z 2next ..., z n+1next } and actual control quantity u next Updated to: With 1next =z 1pre With 2next =z 2pre With nnext =z npre With n+1next =z n+1pre in next =in pre 4) The closed-loop system proceeds to the next calculation cycle, and the actual state variable {z} of the active disturbance rejection controller at the previous moment... 1pre z 2pre ..., z n+1pre } and actual control quantity u pre Updated to the current state variables {z1, z2, ..., z} of the active disturbance rejection controller from the previous calculation cycle. n+1 } and control variable u, the current state variables {z1, z2, ..., z} of the active disturbance rejection controller. n+1 The control variable u is updated to the actual state variable {z} at the next time step. 1next z 2next ..., z n+1next } and actual control quantity u next Then begin the calculation for the next moment.

2. A first-order input-compensated active disturbance rejection control method with latch-up / decrease function considering feedforward, characterized in that, The method includes the following steps: 1) Obtain the previous state variable {z} of the first-order input-compensated active disturbance rejection controller. 1pre z 2pre u 1pre u 2pre 、…、u ipre } and control quantity u pre The current state variables {z1, z2, u1, u2, ..., u} i1 } and control quantity u, current feedforward quantity u f The current setpoint r and the current system output y are used to update the previous state variable {z} according to the following formula. 1pre z 2pre u 1pre u 2pre 、…、u ipre } and control quantity u pre Value: With 1pre =z1 With 2pre =z2 u 1pre =u1 in ipre =in i in pre =in Where i is the order of the input compensation, i∈[1,n]; 2) Calculate the theoretical state variable {z} of the first-order input-compensated active disturbance rejection controller under the normal control condition at the next moment. 1nextT z 2nextT u 1nextT u 2nextT 、…、u inextT } and theoretical control quantity u nextT Value: mm 1nextT = z1+ΔT(z2+β1(y-z1)+b0(u inextT -u f )) z 2nextT =z2+ΔT(β2(y-z1)) or Where ΔT is the sampling period, β1, β2, b0, and k1 are all parameters of the first-order input compensation active disturbance rejection controller, which are given values; T is the compensation time constant of the first-order input compensation active disturbance rejection controller. 3) Obtain the latch-up increment T of the first-order input compensation active disturbance rejection controller. i and locking T d Signal state, where T i When T equals 1, it is in the locking increment state. i When T equals 0, it is in the locked / closed state. d When T equals 1, it is in the locked decrement state. d When the value is 0, it is in the locked / closed state; Based on the theoretical state variable {z 1nextT z 2nextT u 1nextT u 2nextT 、…、u inextT } and theoretical control quantity u nextT The values ​​of the current state variables {z1, z2, u1, u2, ..., u} i1 } and control quantity u, for the actual state variable {z} of the first-order input compensated active disturbance rejection controller at the next moment. 1next z 2next u 1next u 2next 、…、u inext } and actual control quantity u next Update: If u > u nextT T d =1 and T i =0, the actual state variable {z} of the first-order input-compensated active disturbance rejection controller at the next moment. 1next z 2next u 1next u 2next 、…、u inext } and actual control quantity u next Updated to: in 1next =in 1pre in inext =in ipre With 1next =z 1pre With 2next =z 2pre in next =in pre If u≤u nextT T d =1 and T i =0, the actual state variable {z} of the first-order input-compensated active disturbance rejection controller at the next moment. 1next z 2next u 1next u 2next 、…、u inext } and actual control quantity u next Updated to: in 1next =in 1nextT in inext =in inextT With 1next =z 1nextT With 2next =z 2nextT in next =in nextT If u is satisfied nextT <u、T d =0 and T i =1, the actual state variable {z} of the first-order input-compensated active disturbance rejection controller at the next moment. 1next z 2next u 1next u 2next 、…、u inext } and actual control quantity u next Updated to: in 1next =in 1nextT in inext =in inextT With 1next =z 1nextT With 2next =z 2nextT in next =in nextT If u is satisfied nextT ≥u、T d =0 and T i =1, the actual state variable {z} of the first-order input-compensated active disturbance rejection controller at the next moment. 1next z 2next u 1next u 2next 、…、u inext } and actual control quantity u next Updated to: in 1next =in 1pre in inext =in ipre With 1next =z 1pre With 2next =z 2pre in next =in pre If T is satisfied d =0 and T i =0, the actual state variable {z} of the first-order input-compensated active disturbance rejection controller at the next moment. 1next z 2next u 1next u 2next 、…、u inext } and actual control quantity u next Updated to: in 1next =in 1nextT in inext =in inextT With 1next =z 1nextT With 2next =z 2nextT in next =in nextT If T is satisfied d =1 and T i =1, the actual state variable {z} of the first-order input-compensated active disturbance rejection controller at the next moment. 1next z 2next u 1next u 2next 、…、u inext } and actual control quantity u next Updated to: in 1next =in 1pre in inext =in ipre With 1next =z 1pre With 2next =z 2pre in next =in pre 4) The closed-loop system proceeds to the next calculation cycle, and the actual state variable {z} of the first-order input compensation active disturbance rejection controller at the previous moment is... 1pre z 2pre u 1pre u 2pre 、…、u ipre } and actual control quantity u pre Updated to the current state variables {z1, z2, u1, u2, ..., u...} of the first-order input compensation active disturbance rejection controller from the previous calculation cycle. i1 } and control quantity u, the current state variables {z1, z2, u1, u2, ..., u} of the first-order input compensated active disturbance rejection controller. i1 The control variable u is updated to the actual state variable {z} at the next time step. 1next z 2next u 1next u 2next 、…、u inext } and actual control quantity u next Then begin the calculation for the next moment.

3. A first-order active disturbance rejection control method based on Smith predictor with a blocking increment / decrement function considering feedforward, characterized in that, The method includes the following steps: 1) Obtain the previous state variable {z} of the first-order active disturbance rejection controller based on Smith prediction. 1pre z 2pre y 1pre y 2pre } and control quantity u pre The current state variables {z1, z2, y1, y2} and control variable u, and the current feedforward variable u. f The current setpoint r and the current system output y are used to update the previous state variable {z} according to the following formula. 1pre z 2pre y 1pre y 2pre } and control quantity u pre Value: With 1pre =z1 With 2pre =z2 yes 1pre =y1 yes 2pre =y2 in pre =in 2) Calculate the theoretical state variable {z} of the first-order active disturbance rejection controller based on Smith predictor under the normal control condition at the next moment. 1nextT z 2nextT y 1nextT y 2nextT } and theoretical control quantity u nextT Value: and 2nextT / and 1nextT and -Ls mm 1nextT = z1+ΔT(z2+β1(yy 2nextT y 1nextT -z1)+b0(uu f )) z 2nextT =z2+ΔT(β2(y-z1)) or Where ΔT is the sampling period; β1, β2, b0, and k1 are the parameters of the first-order active disturbance rejection controller based on Smith prediction, which are given values; T, K, and L are the model parameters in the first-order active disturbance rejection controller based on Smith prediction; e and s are the delay factor and Laplace operator of the transfer function, respectively. 3) Obtain the first-order latch-up increase T based on the Smith predictor-based active disturbance rejection controller. i and locking T d Signal state, where T i When T equals 1, it is in the locking increment state. i When T equals 0, it is in the locked / closed state. d When T equals 1, it is in the locked decrement state. d When the value is 0, it is in the locked / closed state; Based on the theoretical state variable {z 1nextT z 2nextT y 1nextT y 2nextT } and theoretical control quantity u nextT Given the values ​​of the current state variables {z1, z2, y1, y2} and the control variable u, the actual state variable {z1, z2, y1, y2} at the next moment of the first-order active disturbance rejection controller based on Smith prediction is given. 1next z 2next y 1next y 2next } and actual control quantity u next Update: If u > u nextT T d =1 and T i =0, the actual state variable {z} of the first-order active disturbance rejection controller at the next moment based on the Smith prediction. 1next z 2next y 1next y 2next } and actual control quantity u next Updated to: and 1next / and 1pre and 2next / and 2pre With 1next =z 1pre With 2next =z 2pre in next =in pre If u≤u nextT T d =1 and T i =0, the actual state variable {z} of the first-order active disturbance rejection controller at the next moment based on the Smith prediction. 1next z 2next y 1next y 2next } and actual control quantity u next Updated to: and 1next / and 1nextT and 2next / and 2nextT With 1next =z 1nextT With 2next =z 2nextT in next =in nextT If u nextT <u、T d =0 and T i =1, the actual state variable {z} of the first-order active disturbance rejection controller at the next moment based on the Smith prediction. 1next z 2next y 1next y 2next } and actual control quantity u next Updated to: and 1next / and 1nextT and 2next / and 2nextT With 1next =z 1nextT With 2next =z 2nextT in next =in nextT If u nextT ≥u、T d =0 and T i =1, the actual state variable {z} of the first-order active disturbance rejection controller at the next moment based on the Smith prediction. 1next z 2next y 1next y 2next } and actual control quantity u next Updated to: and 1next / and 1pre and 2next / and 2pre With 1next =z 1pre With 2next =z 2pre in next =in pre If T is satisfied d =0 and T i =0, the actual state variable {z} of the first-order active disturbance rejection controller at the next moment based on the Smith prediction. 1next z 2next y 1next y 2next } and actual control quantity u next Updated to: and 1next / and 1nextT and 2next / and 2nextT With 1next =z 1nextT With 2next =z 2nextT in next =in nextT If T is satisfied d =1 and T i =1, the actual state variable {z} of the first-order active disturbance rejection controller at the next moment based on the Smith prediction. 1next z 2next y 1next y 2next } and actual control quantity u next Updated to: and 1next / and 1pre and 2next / and 2pre With 1next =z 1pre With 2next =z 2pre in next =in pre 4) The closed-loop system proceeds to the next calculation cycle, and the first-order estimated real state variable {z} of the active disturbance rejection controller at the previous moment is calculated. 1pre z 2pre y 1pre y 2pre } and actual control quantity u pre The current state variables {z1, z2, y1, y2} and control input u of the first-order Smith-estimated active disturbance rejection controller (ADRC) based on the previous calculation cycle are updated to the actual state variables {z1, z2, y1, y2} of the ADRC based on the previous calculation cycle. 1next z 2next y 1next y 2next } and actual control quantity u next Then begin the calculation for the next moment.

4. A latching-up / down active disturbance rejection control device, applied to an active disturbance rejection controller considering feedforward, characterized in that, include: The acquisition module is used to acquire the state variables and control variables of the active disturbance rejection controller at the previous moment, the state variables and control variables at the current moment, the feedforward quantity at the current moment, the setpoint at the current moment, and the system output at the current moment. It is also used to obtain the blocking increment signal status and blocking decrement signal status of the active disturbance rejection controller; The calculation module is used to calculate the theoretical state variables and theoretical control quantities of the active disturbance rejection controller under the normal control condition at the next moment. The control module is used to update the actual state variables and actual control quantities of the active disturbance rejection controller at the next moment based on the values ​​of theoretical state variables and theoretical control quantities, the current state variables and control quantities; It is also used to control the closed-loop system to perform the next calculation cycle; The acquisition module, the calculation module, and the control module are respectively connected to implement the active disturbance rejection control method with blocking increment / decrease function considering feedforward as described in claim 1; or To implement the first-order input compensation active disturbance rejection control method with latch-up / decrease function considering feedforward as described in claim 2; or This is used to implement the first-order Smith predictor-based active disturbance rejection control method with blocking increment / decrease function that considers feedforward as described in claim 3.

5. An electronic device, characterized in that, include: At least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes the computer execution instructions stored in the memory, causing the at least one processor to perform the active disturbance rejection control method with latch-up / decrease function considering feedforward as described in claim 1; or The first-order input compensation active disturbance rejection control method with latch-up / decrease function considering feedforward as described in claim 2; or The first-order active disturbance rejection control method based on Smith prediction with blocking addition and subtraction function considering feedforward as described in claim 3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by the processor, implement the active disturbance rejection control method with latching increment / decrement function considering feedforward as described in claim 1; or The first-order input compensation active disturbance rejection control method with latch-up / decrease function considering feedforward as described in claim 2; or The first-order active disturbance rejection control method based on Smith prediction with blocking addition and subtraction function considering feedforward as described in claim 3.

Images