Improved active-disturbance-rejection control method based on double compensation and quantification parameter setting

Abstract

The invention provides an improved active-disturbance-rejection control method based on double compensation and quantitative parameter setting. The improved active-disturbance-rejection control method is used for accurately controlling a high-order inertia lag system. The method comprises the following steps: describing an industrial process by using a high-order inertia lag system, designing a pre-compensation link and an amplitude limiter, and enabling the pre-compensation link and the amplitude limiter to be equivalent to an original model to form a new system to improve dynamic performance and anti-saturation capability; based on a new system output current value, a next calculation step sequence compensation value is obtained through an input composite compensation algorithm; using an extended state observer algorithm to obtain two calculation step sequence tracking values under output and total disturbance; obtaining a next three calculation step sequence value through a state error feedback control law; performing quantitative calculation on improved active disturbance rejection control parameters, substituting the parameters into a control loop to obtain next four calculation step sequence values of the control quantity, obtaining next five calculation step sequence values through a pre-compensation link, then obtaining six calculation step sequence values of the actual control quantity through an amplitude limiter, and adjusting output; according to the invention, the anti-interference and anti-saturation capabilities of the system are effectively enhanced while the tracking performance of the system is ensured.

Description

Technical Field

[0001] The present invention relates to the field of industrial control, and in particular to an improved auto-disturbance rejection control method based on double compensation and quantitative parameter setting. Background Art

[0002] The Active Disturbance Rejection Control (ADRC) algorithm has attracted widespread attention and application due to its simple structure, balanced tracking and interference rejection capabilities, and excellent robustness. It has been successfully applied in autonomous vehicle systems, drone flight control systems, grid-connected photovoltaic power generation systems, and magnetic levitation train control systems.

[0003] However, in typical industrial process control such as chemical industry and thermal power generation, there are many processes with large hysteresis characteristics, such as the superheated air temperature system and reheated steam temperature system in thermal power units, which are usually described as high-order inertia hysteresis systems. , s 、 K 、 T 、 t and n ( n ≥3) represent the gain, time constant, lag time and order of the differential operator, high-order inertial lag system, respectively. Y ( s )and U ( s ) are the output and input of the high-order inertia lag system respectively; taking the reheat steam temperature system as an example, the meaning of each parameter in the above formula is: output Y ( s ) is the reheat outlet temperature of the reheat steam temperature system, input U ( s ) is the opening of the flue gas damper at the tail end of the reheat steam pipe, and the gain coefficient K It refers to the magnification of the input value by the high-order inertia lag system. The input value is the change in the reheater outlet temperature corresponding to a 1% increase in the opening of the flue gas damper at the end of the hot steam pipe. The lag time t The time constant is the delay between the heat released by fuel combustion and the heat transferred to the reheated steam through the heating surface. T Refers to the time required for the system response to reach 63.2% of the steady-state value. In the reheat steam temperature system, when the input is adjusted, the reheat steam temperature will not reach the new stable value immediately, but will change gradually. Time constant T It is an indicator to measure the speed of this change.

[0004] For high-order inertial systems , published on July 17, 2018, with the Chinese invention patent application number CN108287466A, proposed an implementation scheme of an improved ADRC algorithm and a standard ADRC algorithm. The process of the scheme is as follows Figure 1 As shown: the actual controlled object is described by a high-order system with a first-order inertia link in series; the input value of the previous calculation step of the high-order system is compensated by the compensation algorithm to obtain the compensation value of the current calculation step; the output value of the current calculation step of the high-order system and the compensation value of the current calculation step are subjected to ESO calculation to obtain the tracking value of the output value of the next calculation step of the high-order system and the tracking value of the first-order derivative of the output value, and then the input values of the next two calculation steps of the high-order system are obtained. At the same time, the high-order system adjusts the change of the actuator in real time according to the calculation results.

[0005] Also for high-order inertial systems , published on April 15, 2025, with the Chinese invention patent application number CN119828465A, proposed an improved active disturbance rejection control method based on pre-compensation and quantitative parameter tuning. The process of this solution is as follows Figure 2 As shown in the figure: a pre-compensation structure is designed, and the designed pre-compensation structure and the original high-order inertial system are equivalent to a new high-order inertial system, and then the expected dynamic equation of the closed-loop system is designed; based on the current value of the output of the new high-order inertial system, the compensation value of the next calculation step of the new high-order inertial system is obtained through the compensation algorithm; the tracking values of the next two calculation step values of the output of the new high-order inertial system and the total disturbance are obtained through the extended state observer algorithm; the next three calculation step values of the improved active disturbance rejection control algorithm based on pre-compensation are obtained through the control law algorithm; the dynamic equation of the closed-loop system is determined, and the parameter tuning formula is quantitatively calculated; the quantitative calculation parameter tuning formula is updated; by substituting the parameters obtained by the quantitative calculation into the control loop, the next four calculation step values of the updated control quantity are obtained, and the control quantity adjustment of the closed-loop system is realized.

[0006] The two improved ADRC algorithms proposed above can both handle the large inertia problem of high-order inertial systems very well, but they are not suitable for high-order inertial hysteresis systems with hysteresis characteristics. , there are the following problems: 1) It mainly corrects the inertia link of the system, and has very limited processing capabilities for the pure lag link, resulting in poor control; 2) In high-order inertial hysteresis systems with hysteresis characteristics, the observer's estimation of time-delay disturbances has a phase lag, which makes it difficult to coordinate the optimization of disturbance rejection and tracking performance, significantly increasing system instability and making control more difficult. 3) The parameter tuning method in Chinese invention patent application publication number CN108287466A relies on empirical trial-and-error methods, lacking a quantitative parameter tuning method that balances tracking and anti-interference performance while ensuring robustness. Chinese invention patent application publication number CN119828465A proposes a quantitative parameter tuning method for high-order inertial systems, but it is not applicable to high-order inertial hysteresis systems with hysteresis characteristics. Summary of the Invention

[0007] The purpose of the present invention is to overcome the shortcomings of the existing technology. For a type of industrial system with high-order inertia lag characteristics, in order to overcome the problem that the lag characteristics cause phase lag in the system, thereby significantly increasing system instability and increasing the difficulty of control, an improved active disturbance rejection control method based on dual compensation and quantitative parameter tuning is provided. By designing a pre-compensation link and a limiter for the original high-order inertia lag system, an input composite compensation algorithm is designed for the new controlled object after anti-saturation compensation, and the parameters of the proposed improved anti-saturation active disturbance rejection control algorithm based on pre-compensation and input composite compensation are quantitatively calculated, thereby ensuring that the closed-loop system after tuning achieves the ideal control effect, providing strong support for the widespread application of the algorithm in a type of high-order inertia lag industrial system.

[0008] In a first aspect, the present invention proposes an improved active disturbance rejection control method based on dual compensation and quantitative parameter tuning, comprising the following steps: (1) A class of actual industrial processes is described using a high-order inertia lag system, and the mathematical expression is: Among them, the output of the high-order inertial lag system Y ( S ) and input U ( S ) in each calculation step, respectively y ( k )and u ( k )express, k To calculate the sequence, s represents the differential operator, K represents the gain of the high-order inertial lag system, T represents the time constant, t Indicates the lag time, n ( n ≥3) indicates the order; (2) Design the pre-compensation link and limiter for a real industrial process described; The mathematical expression of the pre-compensation link is: in,T m is the time constant of the high-order inertia lag system after anti-saturation pre-compensation; Output of the pre-compensation link u p As the input of the limiter, u p The actual control quantity entering the high-order inertia lag system is obtained by limiting the amplitude through the limiter u m : The upper limit of the limiter is u max and the lower limit is u min ; (3) After combining the pre-compensation link and the limiter with the high-order inertia lag system, it is equivalent to a new high-order inertia lag system, which is expressed as follows: (4) After the equivalent new high-order inertia lag system, the input compound compensation algorithm is used to input the current control quantity value u ( k ) to compensate and obtain the compensation value for the next calculation step u f ( k +1), the mathematical expression of the input composite compensation algorithm used is: In the next calculation step, the output of the composite compensation algorithm is input U f ( s ) and input U ( s ) respectively u f ( k+ 1) and u ( k+ 1) indicates that k Indicates the calculation steps; (5) The next step of calculating the value of the output of the new high-order inertial lag system after equivalent y ( k+ 1), and input the next calculation step value of the output of the composite compensation algorithm u f ( k+ 1) Using the extended state observer (ESO) algorithm for real-time estimation and compensation calculation, the next two calculation step values of the equivalent new high-order inertial lag system output are obtained. y ( k+ 2) Tracking valuez 1( k+ 2), and the tracking values of the two calculation steps under the total disturbance z 2( k+ 2); z 1( k+ 2) and z 2( k+ 2) The extended state observer algorithm is as follows, in, b 0 is the system gain, h is the sampling period, L is τ / h The rounded value; β 1 and β 2 is the gain of the ESO, which is determined by the parameter bandwidth method: in, oh o Indicates the bandwidth of ESO; (6) The obtained tracking value z 2( k+ 2) and z 1( k+ 2), combined with the two calculation step values r(k+2) under the set value of a class of actual industrial processes, the next three calculation step values of the anti-saturation improved active disturbance rejection control algorithm based on pre-compensation and input composite compensation are obtained through the state error feedback control law u ( k+ 3); u ( k+ 3) Calculated by the following formula: or in, k p are the parameters to be tuned in the implementation of ADRC; (7) Under nominal conditions, k p Depend on Find, among them is the adjustment factor, and its value range is ; In actual engineering applications, b 0 Adjust as needed hour, k p The calculation formula becomes ,here r ( l )=0.047 l 2 +0.521 l +0.219; l is the adjustment factor; (8) The parameters of the anti-saturation improved ADRC algorithm based on pre-compensation and input composite compensation obtained in step (7) are k p , substitute into the control loop to obtain the next four calculation step values of the updated control quantity u ( k+ 4); (9) The next four calculation step values of the updated control quantity u ( k+ 4), enter the pre-compensation link and become u p ( k+ 5) After passing through the limiter, it becomes the actual control quantity u m ( k+ 6) to realize the control quantity adjustment of the closed-loop system, thereby realizing the regulation of the output of the high-order inertia lag system.

[0009] In a second aspect, the present invention proposes an improved active disturbance rejection control system based on dual compensation and quantitative parameter tuning, comprising: a high-order inertia lag system, a pre-compensation link and a limiter for converting the original high-order inertia lag system into a new high-order inertia lag system, a composite compensation calculator for performing composite compensation algorithm calculations, a control law calculator for performing state error feedback control law calculations, and an extended state observer for performing extended state observer algorithm calculations; The control law calculator, the composite compensation calculator, the extended state observer and the new high-order inertial system are communicatively connected to implement the improved active disturbance rejection control method based on dual compensation and quantitative parameter tuning.

[0010] In a third aspect, the present invention provides a device comprising: one or more processors; A memory for storing one or more programs, which, when executed by the one or more processors, causes the one or more processors to perform the improved active disturbance rejection control method based on dual compensation and quantitative parameter tuning as described above.

[0011] In a fourth aspect, the present invention proposes a readable storage medium storing a program, which, when executed by a processor, implements the improved active disturbance rejection control method based on double compensation and quantitative parameter tuning as described above.

[0012] In a fifth aspect, the present invention proposes a program product, comprising a program / instruction, which, when executed by a processor, implements the improved auto-disturbance rejection control method based on double compensation and quantitative parameter adjustment as described above.

[0013] Compared with the prior art, the present invention has outstanding substantive features and significant progress, specifically: The present invention is aimed at a type of industrial system with high-order inertia lag characteristics. In order to overcome the problem that the lag characteristics cause the system to produce phase lag, which in turn significantly increases system instability and increases the difficulty of control, an anti-saturation improved auto-disturbance rejection control design method based on pre-compensation and input composite compensation is provided. On the basis of retaining the characteristics of the existing improved auto-disturbance rejection control algorithm that takes into account both tracking capability and anti-interference capability, the present invention realizes phase lead adjustment of the control quantity and weakening of large inertia through the pre-compensation link and the input composite compensation algorithm; at the same time, the extended state observer is processed with the help of the input composite compensation algorithm to perform phase lag processing, successfully solving the limitation problem of the existing improved auto-disturbance rejection control algorithm in terms of lag link processing capability, and effectively improving the control effect of the lag link. In addition, the present invention also specifically provides a quantitative parameter tuning formula suitable for high-order inertia lag systems, avoiding empirical trial and error, improving parameter tuning efficiency and accuracy, reducing on-site debugging time and cost, significantly improving the practical application convenience of the algorithm, and providing support for its widespread deployment in the industrial field. At the same time, the present invention also introduces a limiter to significantly enhance the system's anti-saturation capability by limiting the control signal amplitude in real time, avoiding actuator saturation, and reducing energy accumulation and oscillation caused by saturation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a structural block diagram of an existing improved active disturbance rejection control algorithm.

[0015] Figure 2 This is a structural block diagram of an existing improved active disturbance rejection control algorithm based on pre-compensation.

[0016] Figure 3 This is a block diagram of the algorithm structure of the present invention.

[0017] Figure 4 This is another algorithm structure block diagram of the present invention.

[0018] Figure 5 These are the implementation steps of the present invention.

[0019] Figure 6 The figure is a comparison diagram of the set value, the output value of the method of the present invention and the output value of the comparison method when the controlled object is a high-order inertia lag system. DETAILED DESCRIPTION

[0020] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0021] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not limited to the listed steps or elements and may include steps or elements that are not listed.

[0022] Example 1 This embodiment proposes an improved active disturbance rejection control method based on double compensation and quantitative parameter tuning, the structure of which is as follows: Figure 3 、 4 As shown, the process is as Figure 5 As shown, the following steps are included: 101: A class of actual industrial processes is described by a high-order inertia lag system. The mathematical expression is: Among them, the output of the high-order inertial lag system Y ( S ) and input U ( S ) in each calculation step, respectively y ( k )and u ( k )express, k To calculate the sequence, s represents the differential operator, K represents the gain of the high-order inertial lag system, T represents the time constant, t Indicates the lag time, n ( n ≥3) indicates the order.

[0023] 102: Design a pre-compensation link and limiter for a real industrial process described; The mathematical expression of the pre-compensation link is: in, T m is the time constant of the high-order inertia lag system after anti-saturation pre-compensation. The recommended value range is T m ∈[0.01,1) T.

[0024] Output of the pre-compensation link u p As the input of the limiter, u p The actual control quantity entering the high-order inertia lag system is obtained by limiting the amplitude through the limiter u m : The upper limit of the limiter is u max and the lower limit is u min .

[0025] 103: After combining the pre-compensation link and the limiter with the high-order inertia lag system, it is equivalent to a new high-order inertia lag system, which is expressed as follows: Compared with the original high-order inertia lag system in step 101, the time constant of the equivalent high-order inertia lag system is T m Ratio time constant T This reduces system inertia and increases phase margin, thereby optimizing dynamic performance. This increases the observer bandwidth of the improved active disturbance rejection control based on precompensation and input compound compensation, enhancing the closed-loop system's tracking performance and interference rejection capabilities. Furthermore, the limiter significantly enhances the system's anti-saturation capability by limiting the control signal amplitude in real time, preventing actuator saturation and reducing energy accumulation and oscillation caused by saturation.

[0026] (4) After the equivalent new high-order inertia lag system, the input compound compensation algorithm is used to input the current control quantity value u ( k ) to compensate and obtain the compensation value for the next calculation step u f ( k +1), the mathematical expression of the input composite compensation algorithm used is: In the next calculation step, the output of the composite compensation algorithm is input U f ( s ) and input U ( s ) respectively u f ( k+ 1) and u ( k+ 1) indicates that kIndicates the calculation steps. The input composite compensation algorithm used is used to compensate for the inertia link. On the basis of this, the compensation of pure delay link is also added While taking into account the characteristics of tracking ability and anti-interference ability, it also realizes the phase advance adjustment of the control quantity and the weakening of large inertia.

[0027] 105: The next step calculation value of the output of the new high-order inertia lag system after equivalent y ( k+ 1), and input the next calculation step value of the output of the composite compensation algorithm u f ( k+ 1) Using the extended state observer (ESO) algorithm for real-time estimation and compensation calculation, the next two calculation step values of the equivalent new high-order inertial lag system output are obtained. y ( k+ 2) Tracking value z 1( k+ 2), and the tracking values of the two calculation steps under the total disturbance z 2( k+ 2); z 1( k+ 2) and z 2( k+ 2) The extended state observer algorithm is as follows, in, b 0 is the system gain, under nominal conditions, , and in actual engineering applications, it can be adjusted to ;λ is the adjustment coefficient; h is the sampling period, h The value range is [0.001,100], L is τ / h The rounded value; β 1 and β 2 is the gain of the ESO, which is determined by the parameter bandwidth method: in, oh o represents the bandwidth of ESO, oh o The larger the number, the stronger the ESO's observation capability. oh o The smaller it is, the weaker the ESO's observation capability is. oh oThe value range of is [0.01,100]. The extended state observer uses the input composite compensation algorithm to process the phase lag, effectively improving the control effect of the lag link.

[0028] 106: The tracking value obtained z 2( k+ 2) and z 1( k+ 2), and the two calculation step values under the set value of a class of actual industrial processes r ( k+ 2) Combined with the state error feedback control law, the next three calculation step values of the anti-saturation improved automatic disturbance rejection control algorithm based on pre-compensation and input composite compensation are obtained u ( k+ 3); like Figure 3 As shown, u ( k+ 3) Calculated by the following formula: Or as Figure 4 As shown, u ( k+ 3) Calculated by the following formula: in, k p are the parameters to be tuned in the implementation of ADRC.

[0029] 107: Under nominal conditions, k p Depend on Find, among them is the adjustment factor, and the recommended value range is ; In actual engineering applications, b 0 Adjust as needed hour, k p The calculation formula becomes ,here r ( l )=0.047 l 2 +0.521 l +0.219; 108: The parameters of the anti-saturation improved ADRC algorithm based on pre-compensation and input composite compensation obtained in step (107) are k p , substitute into the control loop to obtain the next four calculation step values of the updated control quantity u ( k+ 4).

[0030] 109: The next four calculation step values of the updated control quantity u ( k+ 4), enter the pre-compensation link and become u p ( k+ 5) After passing through the limiter, it becomes the actual control quantity u m ( k+ 6) to realize the control quantity adjustment of the closed-loop system, thereby realizing the regulation of the output of the high-order inertia lag system.

[0031] Example 2 This embodiment takes the main steam pressure system of a thermal power plant as an example to illustrate the technical advantages of the present invention: 101: The main steam pressure system of the thermal power unit is described by a high-order inertia lag system. The mathematical expression is: Among them, the output of the high-order inertial lag system Y ( S ) and input U ( S ) in each calculation step, respectively y ( k )and u ( k )express, k To calculate the sequence, s represents the differential operator, K represents the gain of the high-order inertial lag system, T represents the time constant, t Indicates the lag time, n ( n ≥3) indicates the order; in this embodiment, the main steam pressure system of the thermal power unit K =0.753, T =85.731, n =3, τ= 75; 102: Design a pre-compensation active disturbance rejection control structure for the main steam pressure system of the thermal power unit in step 101. Its mathematical expression is: in, T m is the time constant of the high-order inertia lag system after anti-saturation pre-compensation. The recommended value range is T m ∈[0.01,1) T In this embodiment, the denitrification system of the coal-fired unit T m=0.525 T ≈45; Output of the pre-compensation link u p As the input of the limiter, u p The actual control quantity entering the high-order inertia lag system is obtained by limiting the amplitude through the limiter u m : The upper limit of the limiter is u max and the lower limit is u min ; In this embodiment, the limiter value range of the coal-fired unit denitrification system is [-20, 20]; 103: After combining the pre-compensation link and the limiter with the high-order inertia lag system, it is equivalent to a new high-order inertia lag system, which is expressed as follows: Compared with the original main steam pressure system of the thermal power unit in step 101, the equivalent high-order inertia lag system has a time constant of T m Only the original time constant T 0.525 times of the original value. This reduces system inertia and increases phase margin, thereby optimizing dynamic performance. This increases the observer bandwidth of the improved ADRC based on precompensation and input delay compensation, enhancing the closed-loop system's tracking performance and interference rejection capabilities.

[0032] 104: For the new high-order inertia lag system after equivalent in step 102, use the input composite compensation algorithm to input the current control variable value u ( k ) to compensate and obtain the compensation value for the next calculation step u f ( k +1), the mathematical expression of the input composite compensation algorithm used is: In the next calculation step, the output of the composite compensation algorithm is input U f ( s ) and input U ( s ) respectively u f ( k+ 1) and u ( k+ 1) indicates that k Indicates the calculation steps.

[0033] 105: The next step calculation value of the output of the new high-order inertia lag system after equivalent y ( k+ 1), and input the next calculation step value of the output of the composite compensation algorithm u f ( k+ 1) Using the extended state observer (ESO) algorithm for real-time estimation and compensation calculation, the next two calculation step values of the equivalent new high-order inertial lag system output are obtained. y ( k+ 2) Tracking value z 1( k+ 2), and the tracking values of the two calculation steps under the total disturbance z 2( k+ 2); z 1( k+ 2) and z 2( k+ 2) The extended state observer algorithm is as follows, in, b 0 is the system gain, under nominal conditions, , and in actual engineering applications, it can be adjusted to ; In this embodiment, the denitrification system of the coal-fired unit b 0=0.753÷45≈0.0167; h is the sampling period, h The value range is [0.001,100], L is τ / h The rounded value; β 1 and β 2 is the gain of the ESO, which is determined by the parameter bandwidth method: in, oh o Indicates the bandwidth of ESO; oh o The larger the number, the stronger the ESO's observation capability. oh o The smaller it is, the weaker the ESO's observation capability is. oh o The value range of is [0.01,100]; in this embodiment, the main steam pressure system of the thermal power unit oh o =0.3.

[0034] 106: The tracking value obtained z 2( k+2) and z 1( k+ 2), and the two calculation step values under the set value of a class of actual industrial processes r ( k+ 2) Combined with the state error feedback control law, the next three calculation step values of the anti-saturation improved automatic disturbance rejection control algorithm based on pre-compensation and input composite compensation are obtained u ( k+ 3); like Figure 3 As shown, u ( k+ 3) Calculated by the following formula: Or as Figure 4 As shown, u ( k+ 3) Calculated by the following formula: in, k p are the parameters to be tuned in the implementation of ADRC.

[0035] 107: Under nominal conditions, k p Depend on Find, among them is the adjustment factor, and the recommended value range is ; In actual engineering applications, b 0 Adjust as needed hour, k p The calculation formula becomes ,here r ( l )=0.047 l 2 +0.521 l +0.219, λ is the adjustment coefficient; In this embodiment, the denitrification system of the coal-fired unit , .

[0036] 108: The parameters of the anti-saturation improved ADRC algorithm based on pre-compensation and input composite compensation obtained in step (107) are k p , substitute into the control loop to obtain the next four calculation step values of the updated control quantity u ( k+ 4).

[0037] 109: The next four calculation step values of the updated control quantityu ( k+ 4), enter the pre-compensation link and become u p ( k+ 5) After passing through the limiter, it becomes the actual control quantity u m ( k+ 6) to realize the control quantity adjustment of the closed-loop system, thereby realizing the regulation of the output of the high-order inertia lag system.

[0038] Figure 6 The following is a comparison chart of the set value, the output value of the method of the present invention, and the output value of the comparative method when the controlled object is a main steam pressure system of a thermal power unit described by a high-order inertia lag system; wherein the model parameters of the high-order inertia lag system are: K =0.753, T =85.731, n =3, τ= 75. The parameters of the improved active disturbance rejection control algorithm based on pre-compensation and input delay compensation of the present invention are: b 0=0.0167, oh o =0.3, k p =0.024, T m =45 and The parameters of the comparison method (the improved active disturbance rejection control algorithm in the Chinese invention patent application with publication number CN108287466A) are: b 0=0.036, oh o =0.4, k p =0.02; the dotted line, solid line and double-strike line respectively represent the set value of the main steam pressure system, the output value of the method of the present invention and the output value of the comparative method.

[0039] The specific simulation process is as follows: at the beginning of the simulation, the system is in steady state, at 100s the set value is changed from 0 to 1, at 2000s the closed loop is disturbed by the control quantity, changing from 0 to 1, until steady state is reached at 4000s. Through simulation, it can be seen that when the controlled object is a high-order inertial lag system, the method of the present invention has faster tracking speed and stronger anti-interference ability than the comparative method, such as Figure 6 shown.

[0040] Example 3 This embodiment provides an improved active disturbance rejection control system based on dual compensation and quantitative parameter tuning, comprising: a high-order inertia lag system, a pre-compensation link and a limiter for converting the original high-order inertia lag system into a new high-order inertia lag system, a composite compensation calculator for performing composite compensation algorithm calculations, a control law calculator for performing state error feedback control law calculations, and an extended state observer for performing extended state observer algorithm calculations. The control law calculator, the composite compensation calculator, the extended state observer and the new high-order inertial system are communicatively connected to implement the improved active disturbance rejection control method based on dual compensation and quantitative parameter tuning as described in claim 1.

[0041] The specific implementation method of this embodiment can be found in an improved active disturbance rejection control method based on double compensation and quantitative parameter tuning, which will not be described in detail here.

[0042] Example 4 This embodiment provides a device, including: one or more processors; A memory for storing one or more programs, which, when executed by the one or more processors, enables the one or more processors to execute the improved auto-disturbance rejection control method based on dual compensation and quantitative parameter adjustment as described in Example 1.

[0043] Example 5 This embodiment provides a readable storage medium storing a program, characterized in that when the program is executed by a processor, the improved active disturbance rejection control method based on dual compensation and quantitative parameter tuning as described in Example 1 is implemented.

[0044] Example 6 This embodiment provides a program product, including a program / instruction, characterized in that when the program / instruction is executed by a processor, the improved active disturbance rejection control method based on dual compensation and quantitative parameter adjustment as described in Example 1 is implemented.

[0045] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0046] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application can adopt the form of a program product implemented on one or more available storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing available program code.

[0047] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, systems, devices, storage media, and program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by program instructions. These program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the process. Figure one a process or multiple processes and / or boxes Figure one A device that provides the functions specified in a block or multiple blocks.

[0048] The above is a detailed introduction to the methods, systems, devices, media and products provided by the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the methods and core ideas of the present application. At the same time, for those skilled in the art, according to the ideas of the present application, there may be changes in the specific implementation methods and application scope. In summary, the contents of this specification should not be understood as limiting the present application.

Claims

1. An improved active disturbance rejection control method based on double compensation and quantitative parameter tuning, characterized in that: The following steps are involved: (1) A class of actual industrial processes is described using a high-order inertia lag system, and the mathematical expression is: Among them, the output of the high-order inertial lag system Y ( S ) and input U ( S ) in each calculation step, respectively y ( k )and u ( k )express, k To calculate the sequence, s represents the differential operator, K represents the gain of the high-order inertial lag system, T represents the time constant, τ Indicates the lag time, n ( n ≥3) indicates the order; (2) Design the pre-compensation link and limiter for a real industrial process described; The mathematical expression of the pre-compensation link is: in, T m is the time constant of the high-order inertia lag system after anti-saturation pre-compensation; Output of the pre-compensation link u p As the input of the limiter, u p The actual control quantity entering the high-order inertia lag system is obtained by limiting the amplitude through the limiter u m : The upper limit of the limiter is u max and the lower limit is u min ; (3) After combining the pre-compensation link and the limiter with the high-order inertia lag system, it is equivalent to a new high-order inertia lag system, which is expressed as follows: (4) After the equivalent new high-order inertia lag system, the input compound compensation algorithm is used to input the current control quantity value u ( k ) to compensate and obtain the compensation value for the next calculation step u f ( k +1), the mathematical expression of the input composite compensation algorithm used is: In the next calculation step, the output of the composite compensation algorithm is input U f ( s ) and input U ( s ) respectively u f ( k+ 1) and u ( k+ 1) indicates that k Indicates the calculation steps; (5) The next step of calculating the value of the output of the new high-order inertial lag system after equivalent y ( k+ 1), and input the next calculation step value of the output of the composite compensation algorithm u f ( k+ 1) Using the extended state observer (ESO) algorithm for real-time estimation and compensation calculation, the next two calculation step values of the equivalent new high-order inertial lag system output are obtained. y ( k+ 2) Tracking value z 1( k+ 2), and the tracking values of the two calculation steps under the total disturbance z 2( k+ 2); z 1( k+ 2) and z 2( k+ 2) The extended state observer algorithm is as follows, in, b 0 is the system gain, h is the sampling period, L is τ / h The rounded value; β 1 and β 2 is the gain of the ESO, which is determined by the parameter bandwidth method: in, ω o Indicates the bandwidth of ESO; (6) The obtained tracking value z 2( k+ 2) and z 1( k+ 2) Combined with the two calculation step values under the set value of a class of actual industrial processes, the next three calculation step values of the anti-saturation improved active disturbance rejection control algorithm based on pre-compensation and input composite compensation are obtained through the state error feedback control law. u ( k+ 3); u ( k+ 3) Calculated by the following formula: or in, k p is the parameter to be tuned in the implementation of ADRC; (7) Under nominal conditions, k p Depend on Find, among them is the adjustment factor, and its value range is ; In actual engineering applications, b 0 Adjust as needed hour, k p The calculation formula becomes ,here ρ ( λ )=0.047 λ 2 +0.521 λ +0.219; λ is the adjustment factor; (8) The parameters of the anti-saturation improved ADRC algorithm based on pre-compensation and input composite compensation obtained in step (7) are k p , substitute into the control loop to obtain the next four calculation step values of the updated control quantity u ( k+ 4); (9) The next four calculation step values of the updated control quantity u ( k+ 4), enter the pre-compensation link and become u p ( k+ 5) After passing through the limiter, it becomes the actual control quantity u m ( k+ 6) to realize the control quantity adjustment of the closed-loop system, thereby realizing the regulation of the output of the high-order inertia lag system.

2. An improved active disturbance rejection control system based on double compensation and quantitative parameter tuning, characterized in that: include: A high-order inertia lag system, a pre-compensation link and a limiter for converting the original high-order inertia lag system into a new high-order inertia lag system, a composite compensation calculator for performing composite compensation algorithm calculations, a control law calculator for performing state error feedback control law calculations, and an extended state observer for performing extended state observer algorithm calculations; The control law calculator, the composite compensation calculator, the extended state observer and the new high-order inertial system are communicatively connected to implement the improved active disturbance rejection control method based on dual compensation and quantitative parameter tuning as described in claim 1.

3. A device, characterized in that include: one or more processors; A memory for storing one or more programs, which, when executed by the one or more processors, causes the one or more processors to perform the improved active disturbance rejection control method based on dual compensation and quantitative parameter tuning as claimed in claim 1.

4. A readable storage medium storing a program, characterized in that: When the program is executed by a processor, the improved active disturbance rejection control method based on double compensation and quantitative parameter tuning as claimed in claim 1 is implemented.

5. A program product comprising a program / instruction, characterized in that When the program / instruction is executed by a processor, the improved active disturbance rejection control method based on double compensation and quantitative parameter tuning as claimed in claim 1 is implemented.

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