Optimization method and device of feedforward first-order ADRC controller

Abstract

The application discloses a feedforward type first-order ADRC controller optimization method and device, and belongs to the field of automation. The first-order ADRC system usually omits the transition link, which, although simplifies the structure of the system to some extent, reduces the calculation amount of the system and the hardware cost, but sacrifices the adaptability of the system to sudden signals and noise interference. The application proposes an innovative improvement scheme. A feedforward link is additionally arranged after the set value of the first-order linear ADRC system, and is used as the transition link of the system. The purpose is to learn from the advantages of the transition link in the second-order and above-order ADRC system, and make up for the deficiencies of the first-order ADRC system in the aspects of anti-interference and response speed. The method can significantly improve the dynamic response performance of the system. The specific performance is that the response speed of the system is faster, the overshoot is smaller, and the system can maintain better stability when facing sudden signals and noise interference.

Description

Technical Field

[0001] This application belongs to the field of automation control technology, and in particular relates to a method and apparatus for optimizing a feedforward first-order ADRC controller. Background Technology

[0002] In the field of modern industrial automation, control systems play a crucial role in ensuring the stable and efficient operation of equipment. Active Disturbance Rejection Control (ADRC) technology has attracted widespread attention due to its strong robustness against internal and external disturbances to the control system and its advantage of not requiring precise mathematical models. Among these, the first-order linear ADRC system, as the most basic and simplest form of ADRC technology, is widely used in application scenarios that require a certain level of control accuracy and dynamic performance while maintaining relatively low system complexity.

[0003] A first-order linear active disturbance rejection control system typically consists of a linear extended state observer (LESO) and a linear state error feedback control law (LSEF). Traditionally, four parameters need to be tuned: the linear extended observer parameters β1 and β2, and the linear error feedback control law parameter k. p And the control gain b0. Accurate tuning of these parameters is crucial for optimizing system performance. However, the parameters have complex interrelationships, and extensive debugging is required for different application scenarios, making the parameter tuning process extremely cumbersome. To overcome these challenges, Professor Gao Zhiqiang proposed a bandwidth parameterization method. This method deeply analyzes the intrinsic relationships between control parameters, utilizes the characteristics of bandwidth parameters to establish correlations between parameters, simplifies the coupling relationships between parameters, and reduces the number of parameters to be tuned to three, namely, the extended state observer bandwidth ω. o , Linear error feedback rate bandwidth ω c And b0, to some extent, reduces the difficulty of tuning.

[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 fields. They reduced the number of tuning parameters to two, λ and b0, where λ = ω c / ω o 0 < λ ≤ 1. This method exhibits excellent performance under various operating conditions; however, when the value of λ is small, the response speed of the control system in tracking the setpoint is slow. Summary of the Invention

[0005] This application aims to address 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 apparatus, which can significantly improve the dynamic response performance of the system, specifically manifested in faster system response speed, smaller overshoot, and better stability when facing sudden signals and noise interference.

[0006] Firstly, this application provides a feedforward-type first-order ADRC controller optimization method, which adds a feedforward element G to the classic linear active disturbance rejection control system. F The method includes:

[0007] S1: Using the ascent curve method or by simplifying the transfer function, for a first-order inertial time-delay system, the transfer function G of the controlled object is... p The parameters are identified, and the parameters in the transfer function of the controlled object include: steady-state gain, inertial time constant, and delay time;

[0008] S2: Transfer function G to the controlled object p After the parameters are identified, the corresponding linearly extended state observer is represented 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, and z1(t) and z2(t) represent the estimated values ​​of the state variables;

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

[0012] The compensation rate is

[0013] The bandwidth ω of the extended state observer is defined using a bandwidth parameterization method. o and the bandwidth of linear error feedback rate ω c The parameters β1 and β2 of the linear extended state observer and the parameter k of the linear error feedback control law were calculated. p β1=2ω o , k p =ω c The parameters to be tuned for the first-order linear active disturbance rejection control include ω. o ω c The control gain b0 of the extended state observer simplifies parameter tuning.

[0014] S3: Define the bandwidth of the first-order active disturbance rejection controller as... Then ω c=(1+2λ)ω A , Then in S2 k p =(1+2λ)ω A The parameters to be tuned include ω. A , λ and b0;

[0015] S4: Based on the first-order linear ADRC, add a feedforward element, that is, add a feedforward transfer function after the setpoint. Where T1 and T2 are the parameters of the feedforward link, serving as the transition link of the first-order ADRC, then the system input r = r0G F .

[0016] According to one embodiment of this application, in step S2, for a controlled object that 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 inertial time constant; and τ is the delay time.

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

[0020] According to one embodiment of this application, in step S3, the controller is designed based on the zero-pole cancellation principle. Where, ω A ω is the bandwidth of the first-order active disturbance rejection controller; o To extend the bandwidth of the state observer; ω c is the linear error feedback rate bandwidth; T is the inertial time constant.

[0021] According to one embodiment of this application, in S4, when the DCS or PLC is configured, the feedforward transfer function is not present. The function is configured using two lead-lag elements, where the numerator time constant of the first element is 0, and the denominator time constants of the two lead-lag elements are the same.

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

[0023] According to one embodiment of this application, the ω c The bandwidth of the linear error feedback rate; ωo To expand the bandwidth of the state observer.

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

[0025] According to one embodiment of this application, it includes:

[0026] Starting from the initial value of the control gain b0 of the extended state observer, gradually decrease the control 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 gain b0 of the extended state observer, the control gain b0 of the extended state observer is gradually increased so that no overshoot occurs during the closed-loop control process.

[0029] Secondly, this application provides a feedforward first-order ADRC controller optimization device, which adds a feedforward element G to the classic linear active disturbance rejection control device. F The device includes:

[0030] The first processing module is used to process the transfer function G of the controlled object in a first-order inertial time-delay system using either the ascent curve method or by simplifying the transfer function. p The parameters are identified, and the parameters in the transfer function of the controlled object include: steady-state gain, inertial time constant, and delay time;

[0031] The second processing module is used to pass the function G to the controlled object. p After the parameters are identified, the corresponding linearly extended state observer is represented 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, and z1(t) and z2(t) represent the estimated values ​​of the state variables;

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

[0035] The compensation rate is

[0036] The bandwidth ω of the extended state observer is defined using a bandwidth parameterization method. o and the bandwidth of linear error feedback rate ωc The parameters β1 and β2 of the linear extended state observer and the parameter k of the linear error feedback control law were calculated. p β1=2ω o , k p =ω c The parameters to be tuned for the first-order linear active disturbance rejection control include ω. o ω c The control gain b0 of the extended state observer simplifies parameter tuning.

[0037] The third processing module is used to define the bandwidth of the first-order active disturbance rejection controller. Then ω c =(1+2λ)ω A , Then in the second processing module k p =(1+2λ)ω A The parameters to be tuned include ω. A , λ and b0;

[0038] The fourth processing module is used to add a feedforward element to the first-order linear ADRC, that is, to add a feedforward transfer function after the setpoint. Where T1 and T2 are the parameters of the feedforward link, serving as the transition link of the first-order ADRC, then the system input r = r0G F .

[0039] Thirdly, this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the feedforward first-order ADRC controller optimization method as described in the first aspect above.

[0040] Fourthly, this 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] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the feedforward first-order ADRC controller optimization method as described in the first aspect above. Attached Figure Description

[0042] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken 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 in an embodiment of this application;

[0044] Figure 2 The feedforward link G provided in the embodiments of this application F Configuration diagram;

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

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

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

[0048] Figure 6 The embodiments of this application provide the selection of different feedforward elements G. F The response diagram of a first-order linear ADRC system at point r;

[0049] Figure 7 The embodiments of this application provide the selection of different feedforward elements G. F Closed-loop response diagram of a first-order linear ADRC system;

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

[0051] Figure 9 This is a comparison chart of the anti-interference effects of the feedforward first-order ADRC provided in the embodiments of this application and the PI type.

[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 in the embodiments of this application;

[0053] Figure 11 This is a schematic diagram of the structure of the feedforward first-order ADRC controller optimization device provided in the embodiments of this application;

[0054] Figure 12 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0055] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0056] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

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

[0058] Among them, the feedforward first-order ADRC controller optimization method can be applied to the terminal, and can be executed by the hardware or software in the terminal.

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

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

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

[0062] The inventors discovered that when λ is 0.1, the system's settling time increases significantly compared to when λ is 10, indicating that the system's dynamic performance is relatively sluggish at this value.

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

[0064] This application conducted a series of comparative experiments, and the results show that the system settling time of the feedforward first-order ADRC controller optimization method is significantly shortened and the dynamic performance is significantly improved. The specific benefits are as follows: First, it greatly improves the system's response speed, enabling the system to react more quickly to input signals and adjust the output in a timely manner, meeting the needs of application scenarios such as real-time control and rapid adjustment. Second, it significantly enhances the system's stability, reduces performance fluctuations caused by value variations, and ensures that the system can operate stably and reliably under different operating conditions, laying a solid foundation for the widespread application of this technology in complex and ever-changing practical engineering environments.

[0065] An optimization method for a feedforward first-order ADRC controller incorporates a feedforward element G into the classical linear active disturbance rejection control system. F This includes: S1, S2, S4 and S4.

[0066] S1: Using the ascent curve method or by simplifying the transfer function, for first-order inertial time-delay systems, such as... Figure 1 The controlled object transfer function G p The parameters are identified, and the parameters in the transfer function of the controlled object include: steady-state gain, inertial time constant, and delay time;

[0067] In other embodiments, the open-loop step response curve method can also be used for first-order inertial time-delay systems. Figure 1 Transfer function G of the controlled object p The parameters involved are identified, including steady-state gain K, inertial time constant T, and delay time τ.

[0068] S2: Transfer function G to the controlled object p After the parameters are identified, the corresponding linearly extended state observer is represented 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, and z1(t) and z2(t) represent the estimated values ​​of the state variables;

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

[0072] The compensation rate is

[0073] The bandwidth ω of the extended state observer is defined using a bandwidth parameterization method. o and the bandwidth of linear error feedback rate ω c The parameters β1 and β2 of the linear extended state observer and the parameter k of the linear error feedback control law were calculated. p β1=2ω o , k p =ω c The parameters to be tuned for the first-order linear active disturbance rejection control include ω. o ω c The control gain b0 of the extended state observer simplifies parameter tuning.

[0074] In some embodiments, for the controlled object being a first-order inertial time-delay system, the transfer function in S2 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 inertial time constant; and τ is the delay time.

[0077] S3: Define the bandwidth of the first-order active disturbance rejection controller 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 can be 0.1.

[0080] In some embodiments, in S3, the controller is designed based on the zero-pole cancellation principle. Where, ω A ω is the bandwidth of the first-order active disturbance rejection controller; o To extend the bandwidth of the state observer; ω c is the linear error feedback rate bandwidth; T is the inertial time constant.

[0081] S4: Based on the first-order linear ADRC, add a feedforward element, that is, add a feedforward transfer function after the setpoint. Where T1 and T2 are the parameters of the feedforward link, serving as the transition link of the first-order ADRC, then the system input r = r0G F .

[0082] In some embodiments, in S4, when configured in DCS or PLC, there is no feedforward transfer function. The function is configured using two lead-lag elements, where the numerator time constant of the first element is 0, and the denominator time constants of the two lead-lag elements are the same.

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

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

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

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

[0087] ω o To expand the bandwidth of the state observer.

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

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

[0090] In other embodiments, the control gain b0 of the extended state observer can be gradually increased from its initial value to prevent overshoot during closed-loop control.

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

[0092] The following provides a detailed description of the specific implementation method of a feedforward first-order ADRC controller optimization method.

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

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

[0095]

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

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

[0098]

[0099] Where z1(t)→y(t) and 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 is:

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

[0102] The compensation rate is

[0103]

[0104] The bandwidth ω of the extended state observer is defined using a bandwidth parameterization method. o , Linear error feedback rate bandwidth ω c ω c Then, 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 .

[0105] The first-order linear ADRC can be simplified to the following form:

[0106]

[0107] in Simplified system diagram as follows Figure 3 As shown.

[0108] (2) Next, the bandwidth of the first-order active disturbance rejection controller is defined as... Then ω c =(1+2λ)ω A ,

[0109] but k p =(1+2λ)ω A At this point, 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 In this context, 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 Discovered Symmetric about the reciprocal of λ, that is, if we choose λ1 and λ2 = 1 / λ1, they have the same zeros and poles.

[0116] At the same time, let the coefficients in front also be the same, that is G y (s) are exactly the same, and thus, according to the characteristic equation, the closed-loop poles are the same.

[0117] The parameters in the transfer function of the controlled object are set as follows: 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, the difference is 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] Starting from the initial value, gradually decrease it until the overshoot of the closed-loop control equals 5%, and b 01 / b 02 =640 / 343, take λ=0.1, b 01 =11.5; λ=10, b 02 =6.16 Simulation experiment was conducted, and the experimental results are as follows Figure 4 As shown. Comparing the effects of different values ​​of parameter λ on the system's regulation characteristics, it was found that when λ = 0.1, the system can complete the regulation process and reach steady state more quickly when λ is 10.

[0125] Analysis revealed that G at this time r The poles of (s) are the same, but the zeros are different. When λ = 0.1, G r (s) Zero point is -12ω A When λ = 10, G r (s) Zero point is -2.1ω A The absolute value of the zero point of the former is greater than that of the zero point of the latter.

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

[0127] (5) Usually, the range of λ is 0 < λ ≤ 1. In order to make λ = 0.1 achieve the effect of λ = 10, a feedforward function is added to change G. r The zero point of (s) is set. (Because 0 < λ ≤ 1, we have ω) o ≥ω c ), considering G F It is a lead transfer function, requiring molecule order reduction, and the steady-state gain is 1, so it is changed to More generalized treatment

[0128] Typically, T2 = 1 / ω o However, T1 is optional, and its range is T1>T2, with T1 preferably being 1 / ω. c T1 can also be unequal to 1 / ω c Other values.

[0129] Figure 5The diagram shows a simplified first-order ADRC control system with a feedforward transfer function, where λ = 0.1 is used, and a feedforward transfer function is added after the setpoint. but Among them G r * (s) Zero point is -1.2ω A Before adding a feedforward stage, G r (s) Zero point is -12ω A The former is closer to the imaginary axis than the latter, thus 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 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 elements G F The response diagram of a first-order linear ADRC system at point r. From the diagram, it can be seen that when G is used... F1 At 0s, there is a jump, and the maximum amplitude can reach 30; when G is selected F2 When overshoot occurs, the magnitude of the overshoot can be adjusted by changing the value of λ; when G is used... F3 At time, there is also a jump at 0s, with a maximum amplitude of 10; when G is selected F4 At that time, there is no overshoot phenomenon, but the dynamic response speed is relatively slow.

[0133] Figure 7 To select different feedforward elements G F The closed-loop response diagram of a first-order linear ADRC system is shown in the figure. It can be seen from the figure that when G is selected... F1 At that time, the system response speed was the fastest, but in the initial stage of the response, an amplitude jump phenomenon occurred; when G was selected... F2 and G F3 When the system overshoot does not exceed 5%, the response speed is significantly faster; when G is selected... F4 At that time, the system response speed slowed down slightly.

[0134] In summary, the selection The best results are achieved this way.

[0135] Example 1:

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

[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 graph, the time taken for the first-order linear ADRC with an amplitude of 0.95 is 4.46s, while the time taken for the feedforward first-order ADRC with an amplitude of 0.95 is 3.43s. The latter shows a 23.1% improvement in response speed, demonstrating superior dynamic response performance. Compared to a PI controller, the feedforward first-order ADRC is slightly slower in response speed.

[0138] Example 2:

[0139] like Figure 9 As shown, a comparison of the anti-interference effects of the feedforward first-order ADRC and the PI converter is presented, where 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 was added to both controllers. Simulation calculations show that when the closed-loop response amplitude of the feedforward first-order ADRC reaches 0.95, the time is 3.63s, and when the closed-loop response amplitude of the PI controller reaches 0.95, the time 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, under the same white noise input, the improved ADRC demonstrates superior performance in response speed, system stability, and reliability compared to the PI controller.

[0142] Example 3:

[0143] In the main steam temperature system of a 330MW circulating fluidized bed turbine unit, the induction zone model and the inert zone model are important components. The representative guide zone model is located in the front section of the superheater in the main steam temperature control system, and can reflect the steam temperature change trend earlier. The inert zone model represents the portion of the superheater after the inlet zone, describing the steam temperature variation characteristics in this region; the main steam temperature system can be simplified to...

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

[0145] The feedforward first-order ADRC controller optimization method provided in this application can be executed by a feedforward first-order ADRC controller optimization device. This application uses the example of a feedforward first-order ADRC controller optimization device executing the feedforward first-order ADRC controller optimization method to illustrate the feedforward first-order ADRC controller optimization device provided in this application.

[0146] This application also provides a feedforward first-order ADRC controller optimization device.

[0147] The feedforward first-order ADRC controller optimization device adds a feedforward element 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 process the transfer function λ of the controlled object in a first-order inertial time-delay system using either the ascent curve method or by simplifying the transfer function. p The parameters are identified, and the parameters in the transfer function of the controlled object include: steady-state gain, inertial time constant, and delay time;

[0150] The second processing module 1120 is used to transfer the function G to the controlled object. p After the parameters are identified, the corresponding linearly extended state observer is represented 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, and z1(t) and z2(t) represent the estimated values ​​of the state variables;

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

[0154] The compensation rate is

[0155] The bandwidth ω of the extended state observer is defined using a bandwidth parameterization method. o and the bandwidth of linear error feedback rate ω c The parameters β1 and β2 of the linear extended state observer and the parameter k of the linear error feedback control law were calculated. p β1=2ω o , k p =ω c The parameters to be tuned for the first-order linear active disturbance rejection control include ω. o ω c The control gain b0 of the extended state observer simplifies parameter tuning.

[0156] The third processing module 1130 is used to define the bandwidth of the first-order active disturbance rejection controller. Then ω c =(1+2λ)ω A , 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 element to the first-order linear ADRC, that is, to add a feedforward transfer function after the set value. Where T1 and T2 are the parameters of the feedforward link, serving as 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 embodiments of this application, by adding a feedforward link after the set value and using it as the transition link of the system, the effectiveness of the method of this application is verified by a series of simulation experiments. The simulation results show that the method proposed in this application can significantly improve the dynamic response performance of the system.

[0159] The feedforward first-order ADRC controller optimization device in this application embodiment can be an electronic device or a component within an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the device.

[0160] The feedforward first-order ADRC controller optimization device in this application embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this application embodiment does not specifically limit it.

[0161] The feedforward first-order ADRC controller optimization device provided in this application embodiment can achieve... Figures 1 to 10 The various processes implemented in the method implementation examples will not be described again here to avoid repetition.

[0162] In some embodiments, such as Figure 12 As shown, this application embodiment also 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, it implements the various processes of the above-described feedforward first-order ADRC controller optimization method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

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

[0164] This application also provides a non-transitory computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described feedforward first-order ADRC controller optimization method embodiment and achieves the same technical effect. To avoid repetition, it will not be described again here.

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

[0166] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described feedforward first-order ADRC controller optimization method.

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

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

[0169] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0170] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0171] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they 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 this application, in essence, or the part that contributes to the related technology, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0172] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0173] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0174] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. An optimization method for a feedforward first-order ADRC controller, characterized in that, A feedforward link is added to a classical linear active disturbance rejection control system comprising: S1: using the femto-second curve method or by simplifying the transfer function, identifying the parameters of the first-order inertia time delay system, the controlled object transfer function The parameters in the controlled object transfer function include: steady-state gain, inertia time constant and delay time; S2: Transfer function to the controlled object After the parameters are identified, the corresponding linearly extended state observer is represented as: ， in, Represents time, These represent the system reference value, input value, and output value, respectively. and Represents the estimated value of the state variable; Feedback rate ; The compensation rate is ; The bandwidth of the extended state observer is defined using a bandwidth parameterization method. and linear error feedback rate bandwidth The parameters of the linearly extended state observer are calculated. and and parameters of the linear error feedback control law , , , The parameters to be tuned for the first-order linear active disturbance rejection control include: , and the control gain of the extended state observer To simplify parameter tuning; S3: Define the bandwidth of the first-order active disturbance rejection controller as... , ,but , Then in S2 , , The parameters to be tuned include , and ; S4: Based on the first-order linear ADRC, add a feedforward element, that is, add a feedforward transfer function after the setpoint. ,in Given the parameters of the feedforward element, which serve as the transition element in a first-order ADRC circuit, the system input... ; In S3, the The range is ; In S3, a controller is designed based on the zero-pole cancellation principle. ;in, The bandwidth of the first-order active disturbance rejection controller; To expand the bandwidth of the state observer; The bandwidth of the linear error feedback rate; The inertial time constant; The The Greater than the ; The , The bandwidth of the linear error feedback rate; , To expand the bandwidth of the state observer.

2. The optimization method for a feedforward first-order ADRC controller according to claim 1, characterized in that, In S2, for the controlled object being a first-order inertial time-delay system, the transfer function is determined based on the following formula: in, For transfer functions; , For system input Output The Laplace transform of; K For steady-state gain, T The inertial time constant; This is the delay time.

3. The optimization method for a feedforward first-order ADRC controller according to claim 1, characterized in that, In S4, the feedforward transfer function is not present when configuring a DCS or PLC. The function is configured using two lead-lag elements, where the numerator time constant of the first element is 0, and the denominator time constants of the two lead-lag elements are the same. .

4. The optimization method for a feedforward first-order ADRC controller according to claim 2, characterized in that, In the Under the condition, the control gain of the extended state observer The initial value is determined based on the following formula: .

5. The optimization method for a feedforward first-order ADRC controller according to claim 4, characterized in that, include: Control gain from the extended state observer Starting from the initial value, gradually decrease the control gain of the extended state observer. This ensures that the overshoot of the closed-loop control is less than or equal to 5%. or, Control gain from the extended state observer Starting from the initial value, gradually increase the control gain of the extended state observer. This ensures that no overshoot occurs during the closed-loop control process.

6. A feedforward first-order ADRC controller optimization device based on the feedforward first-order ADRC controller optimization method as described in any one of claims 1-5, characterized in that, A feedforward element was added to the classic linear active disturbance rejection control device. The device includes: The first processing module is used to process the transfer function of the controlled object in a first-order inertial time-delay system using either the ascent curve method or by simplifying the transfer function. The parameters are identified, and the parameters in the transfer function of the controlled object include: steady-state gain, inertial time constant, and delay time; The second processing module is used to pass functions to the controlled object. After the parameters are identified, the corresponding linearly extended state observer is represented as: ， in, Represents time, These represent the system reference value, input value, and output value, respectively. and Represents the estimated value of the state variable; Feedback rate ; The compensation rate is ; The bandwidth of the extended state observer is defined using a bandwidth parameterization method. and linear error feedback rate bandwidth The parameters of the linearly extended state observer are calculated. and and parameters of the linear error feedback control law , , , The parameters to be tuned for the first-order linear active disturbance rejection control include: , and the control gain of the extended state observer To simplify parameter tuning; The third processing module is used to define the bandwidth of the first-order active disturbance rejection controller. , ,but , Then in the second processing module , , The parameters to be tuned include , and ; The fourth processing module is used to add a feedforward element to the first-order linear ADRC, that is, to add a feedforward transfer function after the setpoint. ,in Given the parameters of the feedforward element, which serve as the transition element in a first-order ADRC circuit, the system input... .

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