756 results about "Active disturbance rejection control" patented technology

Multiple designs, systems, methods and processes for controlling a system or plant using an extended active disturbance rejection control (ADRC) based controller are presented. The extended ADRC controller accepts sensor information from the plant. The sensor information is used in conjunction with an extended state observer in combination with a predictor that estimates and predicts the current state of the plant and a co-joined estimate of the system disturbances and system dynamics. The extended state observer estimates and predictions are used in conjunction with a control law that generates an input to the system based in part on the extended state observer estimates and predictions as well as a desired trajectory for the plant to follow.

The invention relates to a method for autonomous flight of a four-rotor unmanned aircraft by using an auto-disturbance-rejection control technique, belonging to the automatic control field of unmanned aircraft. The method comprises the steps of: respectively making differences between an output xld after arranging a transient process of a target value and an output of an extended state observer, and differential of the output xld and the output of the extended state observer respectively, and then carrying out nonlinear conversion on two differences to obtain a nonlinear feedback control law u0; with regard to an auto-disturbance-rejection controller with three attitude angles and vertical displacement, making difference with feedback of the extended state observer to obtain an output as an input of a corresponding channel of a four-rotor system and the extended state observer; and with regard to an auto-disturbance-rejection controller with forward and side displacements, directly using u0 as the input of the corresponding channel of the four-rotor system and the extended state observer, and feeding back the actual value to the extended state observer after the corresponding channel of the four-rotor system responses, so as to form an close-loop auto-disturbance-rejection controller. The method is strong in capacity of resisting disturbance, and the problems of difficulty in modeling of the four-rotor system, environmental diversity in the flight process, and frequent interferences are effectively solved.

Controller scaling and parameterization are. described. Techniques that can be improved by employing the scaling and parameterization include, but are not limited to, controller design, tuning and optimization. The scaling and parameterization methods described here apply to transfer function based controllers, including PID controllers. The parameterization methods also apply to state feedback and state observer based controllers, as well as linear active disturbance rejection (ADRC) controllers. Parameterization simplifies the use of ADRC. A discrete extended state observer (DESO) and a generalized extended state observer (GESO) are described. They improve the performance of the ESO and therefore ADRC. A tracking control algorithm is also described that improves the performance of the ADRC controller. A general algorithm is described for applying ADRC to multi-input multi-output systems. Several specific applications of the control systems and processes are disclosed.

The invention relates to a PMSM servo system control method based on fuzzy and active disturbance rejection control. A position signal is given by a differential tracker to arrange a transition process so that the contradiction between rapidness and overshoot of a system is solved, and uncertainty, friction torques and external disturbance due to modeling errors of the system are observed via an expansion state observer; according to the error between the differentials generated by the differential tracker and state variation generated by the expansion state observer, a fuzzy inference rule is obtained with application of experimental experience of technical staff, so that a fuzzy rule control table of an error proportion coefficient, a differential coefficient and an integration coefficient is established; accurate control amount is obtained after de-fuzzification, so that parameter self-adaptive adjustment of a nonlinear error feedback control law is realized; and compensation amounts of the nonlinear error feedback control law and the expansion state observer to the total disturbance forms the control amount, thereby realizing optimal control for an controlled object. The method of the invention improves both tracking precision and disturbance rejection capability of the system.

The invention discloses a method and a device for controlling speed of a permanent-magnet synchronous motor. The method includes that an active-disturbance-rejection control technology is adopted for a speed ring, speed setting and a speed detection value are taken as input of a first-order active-disturbance-rejection controller, a tracking differentiator reasonably arranges a transition process, an extended state observer observes an actual value of rotating speed of the motor, estimates total disturbance of a system and acquires output of the speed ring through a nonlinear state error feedback control ratio, a load torque observer is designed through detection values of a current and the speed, and observed load torque through output of a feedforward controller and the active-disturbance-rejection controller is taken as reference input of a quadrature-axis current. The method carries forward characteristics of overshoot freeness, high disturbance rejection capacity, good robustness and the like of the permanent-magnet synchronous motor in speed control in the active-disturbance-rejection control technology, and compensation is performed on the problem of load disturbance, so that the problem of fluctuation of the rotating speed under the circumstance of load disturbance is improved.

The invention discloses a car body stable control method of a four-wheel independent drive electric car. A yaw velocity expected value is obtained through a car linear two-freedom-degree control model, after a side slip angle expected value is set to zero, based on the active disturbance rejection control theory, a yaw velocity deviation active disturbance rejection controller and a side slip angle deviation active disturbance rejection controller are designed, an additional yawing moment deltaMwr and an additional yawing moment deltaMB are obtained, the additional yawing moment deltaMwr and the additional yawing moment deltaMB are linearly added to obtain a total additional yawing moment deltaMYSC acting on the car, finally torque of all wheels is distributed through the value of the total additional yawing moment, distributed instruction torque is input into four motors of the car, and therefore the yaw lateral movement of the electric car is controlled, and the car body is stabilized.

The invention relates to a grey active disturbance rejection control (ADRC) method of a long time-delay system. The method comprises the following steps of: arranging a grey prediction model GM (1,1) in a feedback circuit of ADRC; and compensating system time delay and processing system uncertainty caused by parameter time variation and the like by using grey advanced predication so as to form a new control law acting on a controlled object, improve the control effect of the ADRC and fulfill the aim of efficiently controlling a complicated time delay object. By the control method, the dynamic and steady control performance of a long time-delay time-varying object can be effectively improved by a control system.

A tri-rotor attitude control method based on an auto-disturbance rejection controller (ADRC) includes determining a mathematic model of a tri-rotor aircraft, determining input-output variables suitable for the model, tracking differentiator design, building an expansion state observer, and selecting a non-linear error feedback rate. A core control panel based on Atmega 2560 serves as an execution module, the motor is powered through a drive circuit, and the PWM wave can be adjusted according to the rotating speed of the motor. An inertial navigation module is formed by a tri-shaft gyroscope sensor, an accelerometer, a GPS and a digital compass, and a power supply module provides appropriate voltage to power each module through a power distribution module. For a tri-rotor aircraft model, parameters of all modules are adjusted to achieve excellent effects for auto-disturbance rejection control method. Module design and parameter adjustment of all modules allow three rotors to retain an excellent flying state through an auto-disturbance rejection control system.

The invention discloses an active-disturbance-rejection control method for the temperature of a constant stirring polypropylene reaction kettle. A discrete mode is adopted for the active-disturbance-rejection control method for the temperature of the constant stirring polypropylene reaction kettle, and a tracking differentiator module, an expanded state observer module and a non-linearity feedback controller module are involved. The method includes the steps that firstly, parameters of the tracking differentiator module and the expanded state observer module are set; then, a transient process is arranged, and disturbances are estimated; finally, an error signal is used for adjusting the non-linearity feedback controller module to control the temperature of the polypropylene reaction kettle. The control method has the advantages that the method is implemented on SIMATICPCS7 equipment without establishing a constant stirring polypropylene reaction kettle model, the dynamic response is rapid, and a system is high in adaptability and robustness under the working conditions of disturbances and variable loads.

The invention discloses a method for controlling a main steam temperature in a power plant based on a second-order simplified auto disturbance rejection controller. In the method, a cascade control mode is used for forming a cascade steam temperature mediation and control system; in an inner ring, proportion integration differentiation (PID) adjustment is used for eliminating the deviation of an advance timing steam temperature to achieve a coarse tuning effect on an overheating steam temperature; in an outer ring, the simplified second-order auto disturbance rejection controller is used for controlling the outlet temperature of an overheater, so that the defects of large inertia and large delay of a temperature object in an inertia area are fully overcome; and by a disturbance compensation effect of the simplified second-order auto disturbance rejection controller, the disturbance of factors such as loads, flue gas and the like is eliminated, so that the stability of the main steam temperature is ensured. In the method, an algorithm is simple, a parameter is easy to adjust, and a higher response speed, higher steady state accuracy, higher disturbance resistance and higher robustness can be well acquired without dependence on a mathematical model with an accurate main steam temperature in the power plant.

The invention discloses an active disturbance rejection control robust guaranteed cost design and parameter setting method. The method includes steps: 1, establishing an uncertain linear system state space model; 2, establishing a full-dimensional extension state observer, to be more specific, establishing a system extension state space model, and establishing the full-dimensional extension state observer; 3, establishing a state feedback control structure; 4, analyzing system robust stability and robust performance upper bound; 5, controlling system parameter optimization. The method is applicable to active disturbance rejection controllers of minimum phase systems and non-minimum phase systems, and optimal control performances under given performance indexes of controller systems can be guaranteed under uncertainty conditions.

The invention particularly relates to a design and setting method for an active disturbance rejection control system of a time delay system. According to the method, based on the active disturbance rejection technology, firstly, complex controlled objects are fit into a one-order inertial element plus dead time delay mathematic model, meanwhile, time delay comes down to the disturbance quantity, a time delay reduction linear extended state observer is applied to estimation of unknown total disturbance including the time delay, active compensation for the influences of the total disturbance on the system is achieved, the time delay system is restored into a system in an integrator tandem type in an ADRC standard, and then compensation for the time delay system is achieved; finally, a closed-loop transfer function of the system is deduced, a dead time delay link in a characteristic equation is eliminated, and the numerical relationship between an ADRC single-parameter setting formula with universality and adjustable parameters is correspondingly provided. The simulation result verifies that designed practical ADRC has good stability, rapidity, accuracy and disturbance rejection.

The invention relates to a method of designing a multi-channel linear active disturbance rejection controller, comprising the following steps: S1, rewriting the dynamics and kinematics equations of a flexible spacecraft, and getting a form suitable for designing an active disturbance rejection controller; S2, designing a third-order linear extended state observer to estimate the system state quantity and the total internal and external disturbances; and S3, designing a multi-channel linear active disturbance rejection controller by use of generalized disturbance estimated by the observer. The method has the advantages possessed by the traditional active disturbance rejection control method, does not need to know the accurate mathematical model of the system, and has characteristics such as less overshoot, high precision, strong adaptability, high stability and strong robustness. In addition, the control law is improved for spacecrafts with inertial gyro failure on the basis of an active disturbance rejection controller, the control law is designed by using the observed state of the observer to replace the attitude angle and attitude angular velocity information of a spacecraft, and a fault-tolerant control method is provided for the condition of gyro failure.

The invention discloses a switching control method of a linear / nonlinear active disturbance rejection control system. The method comprises the step of establishing an active disturbance rejection control system, the step of performing linear / nonlinear switching on an extended state observer and the step of carrying out linear / nonlinear switching on a state error feedback control law. The method provided by the invention has the following advantages: the method has a higher anti-interference capability and higher control precision; the stability is irrelevant with an initial state; and a parameter setting method provided by the invention is integrated with the advantages of both a "bandwidth method" and an "experience method", influences of sampling step length, noise and the like are also taken into consideration, and the problems of deteriorating tracking performance and control performance which are caused by too large disturbance amplitude do not have to be considered.

The invention relates to the control of trajectory tracking of omni-directional mobile robots. In order to realize the precise control of the omni-directional mobile robot under the condition that theuncertainty of a dynamic model and the external disturbance exist simultaneously, and avoid the inversion operation, the technical solution adopted by the present invention is that: the omni-directional mobile robot trajectory tracking auto-disturbance control method uses an optimized reduced-order extended state observer to estimate the total disturbance of the omnidirectional mobile robot system, including unmodeled parts, parameter uncertainties and external disturbances, and uses a passive controller designed based on passive characteristics of the omnidirectional mobile robot system to compensate the disturbance estimated by the observer to achieve trajectory tracking control; the extended state observer actively takes the disturbance information from the input and output signals ofa controlled object to eliminate interference with control signals before the disturbance affects the system. The invention is mainly applied to the trajectory tracking and control of mobile robots.

The invention provides an active disturbance rejection control-based method for controlling synchronization of a photovoltaic power generation system. The photovoltaic power generation system is a non-linear system, influenced by power grid and environment and strongly disturbed by the outside and has nonlinear uncertain factors. According to the work characteristics of the system, the active disturbance rejection control technology is adopted to realize effective control of the system. The system dynamically observes the uncertain factors in the system model and external disturbance by utilizing an extended state observer of an active disturbance rejection controller (ADRC) to ensure that the system has good adaptability to disturbance, can adapt to changes of an object model and the surrounding environment in a large range without influencing the control quality of the controller, and represents well robustness.

The invention discloses an alternating current induction motor control system based on a self-immunity to interference control. On basis of the prior art, according to ambiguity compensation, a known part, i.e., the ambiguity compensation sc of the rotation speed working characteristics of the alternating current induction motor is input to an expanded state observer, a sum action quantity Omega 3 of a variety of interference of an actual rotation speed Omega of the motor is an estimation of an unknown part instead of an overall rotation speed, thus burdens of the expanded state observer are relieved, meanwhile a variation scope of a parameter adapting object is enlarged, and the estimation precision of the expanded state observer is increased. By the adoption of the control system, better control effects compared with that of the alternating induction motor system based on the traditional self-immunity to interference control are obtained, the robustness and the immunity to interference are stronger, and the dynamic quality is improved.

The embodiment of the invention discloses an active-disturbance-rejection control method and system for a speed regulation system of a permanent-magnet synchronous motor. The active-disturbance-rejection control method comprises the steps of acquiring a rotor angular speed and a torque current of the speed regulation system of the permanent-magnet synchronous motor; processing the rotor angular speed and the torque current by employing an active-disturbance-rejection model which is built in advance and is adaptive to disturbance to obtain a control output signal; performing rotational speed control on the speed regulation system of the permanent-magnet synchronous motor according to the control output signal, wherein the active-disturbance-rejection model is built according to a first-order linear active-disturbance-rejection control sub-model, a rotational inertia identification sub-model and a load torque observation sub-model, the rotational inertia identification sub-model is built according to a Landau identification algorithm, and the load torque observation sub-model is built according to an expansion state observer; and adjusting control gain b0 of the system according to the identified rotational inertia and a calculation relation b0=Kt / J. According to the active-disturbance-rejection control method disclosed by the embodiment of the invention, the adjustment accuracy of the control grain b0 is improved during the application process, and the anti-interference capability of the speed regulation system of the permanent-magnet synchronous motor is improved.

The invention relates to an improved active-disturbance-rejection and PID cascade control method. Regarding to the problem of large turning errors in position turning, the improved active-disturbance-rejection and PID cascade control method formed by applying active-disturbance rejection control to a speed loop of a precision servo system is provided, the control law of active-disturbance rejection is improved, and the essence of the improvement is as follows: the traditional control law of active-disturbance rejection is designed into PID. Since the design of a conventional non-linear active-disturbance-rejection controller is complicated, the parameters are large in number and difficult to adjust, the improved active-disturbance-rejection and PID cascade control method greatly reduces the number of parameters to be adjusted by adopting a linear active-disturbance-rejection structure, has the advantages of simple structure and easily adjusted parameters, can reduce position tracking errors, and improves the tracking accuracy of the system.

The invention belongs to the field of power systems, and in particular to a method which uses an additional damping controller to modulate active and reactive output of a doubly-fed wind generator to increase low-frequency oscillation damping of a grid connection power system of a large-scale wind farm. According to the invention, the method uses auto-disturbance rejection control technology, introduces the theory of data driving control, engineers an additional damping controller of the wind generator, and makes feature signal of the connecting points of a wind farm as input of the additional damping controller which outputs a signal to be added to active and reactive modulation quantity of a machine side current converter. According to the invention, simulation of the method proves that negative damping low frequency oscillation and forced power oscillation are better controlled, and the method has stronger robustness and engineering practicality. The invention provides a novel method for adjusting parameters of a state observer of a second-order non-linear auto-disturbance controller based on broadband concept.

The invention provides a ship track active-disturbance-rejection control method based on the slip form of a multi-modal nonsingular terminal. The method includes the steps of constructing an expectedship heading equation according to navigational parameters of a ship, deducing a discretization nonlinear structural model of a two-order differentiator, processing expected ship heading signals in the expected ship heading equation to obtain expected ship heading differential signals required for controlling the rudder angle by the control law, obtaining the output rudder angle on the basis of the switchable error feedback control law, constructing an expanded state observer in combination with the error feedback control law, tracking the output deviation according to the expanded state observer, estimating the heading angle and inner and outer disturbance errors controlled by the control law, and feeding the heading angle and the inner and outer disturbance errors back into the control law. By improving the expanded state observer, a linear function and a nonlinear function can be switched in real time; the switchable segmented slip form face is designed; through the segmented slip form face, the switchable error feedback control law is designed, and the under-actuated ship track control is well realized.

The invention discloses a design method of a comprehensive disturbance rejection control system for a single-rotor wing helicopter / turboshaft engine. The invention designs a helicopter multi-model fused robust controller for controlling a helicopter and a turboshaft engine nonlinear model forecasting controller for controlling a turboshaft engine respectively, wherein the multi-model fused robust controller is obtained with a method comprising the following steps of: firstly, selecting a certain characteristic parameter of a controlled object, and partitioning the range of the characteristic parameter into a plurality of control subspaces; secondly, designing a corresponding sub-controller in each control subspace respectively; and lastly, performing online fusion on each sub-controller; and the nonlinear model forecasting controller is established with a method comprising the following steps of: training a turboshaft engine model on line to obtain a forecasting model; performing rolling optimization design on the forecasting model with a sequence secondary planning algorithm library; and performing feedback compensation. According to the method, the disturbance rejection capability of a single-rotor wing helicopter / turboshaft engine comprehensive control system can be improved remarkably.

The invention discloses a PMSM servo system control method based on an improved model compensation ADRC, aims at the problems that the system disturbance amplitude estimated by an extended state observer is high and changes sharply, estimation precision is difficult to guarantee and obtaining of better control performance of an active disturbance rejection controller is limited, and provides an improved model compensation active disturbance rejection control method. Firstly a second-order extended state observer (ESO) is adopted to observe a total disturbance compensation model of the system, and then the disturbance compensation model is utilized to be compensated to a speed loop active disturbance rejection controller in the design of the speed loop ADRC. According to the method, observation capacity of the ESO for system disturbance can be fully utilized so that the ESO in the ADRC is enabled not to estimate total disturbance quantity, estimation burden of the ESO in the active disturbance rejection controller can be reduced, estimation capacity of the system for total disturbance can be enhanced, compensation capacity of the system for various types of disturbance can be effectively enhanced and robustness and anti-disturbance capability of the system can be enhanced.

The invention discloses a tri-axial platform servo motor control method based on the combination of a BP neural network and an active disturbance rejection controller. The tri-axial platform servo motor control method includes the following steps that 1, the kinetic equation of a tri-axial platform arbitrary-frame servo system containing a friction model is built; 2,according to the kinetic equation in the formula (I),the active disturbance rejection controller is designed; 3,a BP neural network parameter on-line setting module is designed and combined with the active disturbance rejection controller, and active disturbance rejection controller on-line parameter setting is achieved. By the adoption of the tri-axial platform servo motor control method based on the combination of the BP neural network and the active disturbance rejection controller, a flat top phenomenon and a dead zone phenomenon of a servo system can be basically eliminated, wherein the flat top phenomenon occurs during position signal tracking, and the dead zone phenomenon occurs during speed signal tracking; therefore, the position tracking precision and the speed tracking precision of the servo system can be improved.

The invention discloses a permanent-magnet synchronous motor torque control system and method based on sliding-mode observer and auto-disturbance rejection control, so that the torque of the permanent-magnet synchronous motor is controlled rapidly and precisely. A minimal-order extended flux-linkage sliding-mode observer is designed; an auto-disturbance rejection current controller is designed; difference processing is carried out on an electromagnetic torque outputted by an observer and a given torque signal outputted by an upper computer and the difference is inputted into a PI controller; a q-axis current signal outputted by the PI controller and dq-axis flux-linkage component outputted by the observer are inputted into the auto-disturbance rejection current controller to form a torque closed loop. According to the permanent-magnet synchronous motor torque control system and method, the dynamic response of the output torque of the motor is accelerated and no overshoot phenomenon is avoided. Moreover, on the basis of combination of the sliding-mode observer and the auto-disturbance rejection controller, the reliability and robustness of the torque control of the permanent-magnet synchronous motor are enhanced. The permanent-magnet synchronous motor torque control system and method are applied to occasions with the permanent-magnet synchronous motor as a driving system.

A shipborne camera shooting stabilized platform control method with an active disturbance rejection control technology adopted includes the following steps that (1) a discrete time state-space model of a shipborne camera shooting stabilized platform control system is built; (2) a tracking differentiator is designed, and the rotation angle of a camera shooting stabilized platform can track the reference angle as soon as possible without overshoot; (3) an extended state observer is designed to estimate the rotation angle, the rotation angular speed, the rotation angular acceleration and the total disturbance of the camera shooting stabilized platform; (4) tracking errors of the angle, the angular speed and the angular acceleration are obtained according to the output of the tracking differentiator and the output of the extended state observer, and then a nonlinear control rule and a disturbance compensation strategy are designed according to the error information. By means of the shipborne camera shooting stabilized platform control method, the tracking accuracy and rapidity of the camera shooting stabilized platform are guaranteed, and the high disturbance rejection capacity is provided.

The invention relates to an improved auto-disturbance rejection controlling method, and provides the improved auto-disturbance rejection controlling method to overcome the defect that a nonlinear auto-disturbance rejection controlling method has a plurality of parameters which are difficult to set. According to the improved auto-disturbance rejection controlling method, an extended state observer in a traditional auto-disturbance rejection controlling method is designed as a disturbance observer which is not based on a system model; the disturbance observer is designed to be only related to two parameters by using a linear auto-disturbance rejection controller parameter setting method, so as to achieve the purpose of reducing the amount of setting parameters. Moreover, the improved auto-disturbance rejection controlling method fully integrates the advantages and disadvantages of linear auto-disturbance rejection and nonlinear auto-disturbance rejection, so that the performance of the controller is maximized; the controlling method can reduce the error of the traditional auto-disturbance rejection controlling method, and improves the control accuracy of the system.

The invention provides a self-disturbance control method for a permanent magnet synchronous motor, and belongs to the technical field of permanent magnet synchronous motor control. The method comprises the steps of: designing a hyperbolic tangent function expansion state observer, adopting the saturation characteristics itself of the hyperbolic tangent function to effectively suppress a differential peak appearing in a traditional expansion state observer so as to improve the system control performance. The non-linear feedback control rate based on the new adaptive sliding mode control is proposed which is characterized by designing a new adaptive shifting index approach law which introduces a first-order norm of the state variable, and an approaching speed is adaptively regulated according to the distance of the state variable from the balance point to reduce the dependence of the self-disturbance control on the parameter robustness so as to achieve the high-precision and high robustness control of a permanent magnet synchronous motor. When the system is disturbed and a load fluctuates, the rotation speed is rapidly tracked, the response speed of the system is improved, the systemovershoot and the steady state static difference are reduced, and the system robustness is greatly enhanced.

The invention provides an autonomous underwater vehicle (AUV) vertical plane under-actuated motion control method, which comprises the steps that: (1) initialization setting is performed on the AUV; (2) a top-layer control computer transmits a mission and finishes the global planning; (3) a motion control computer receives the feedback information of a sensor, performs control calculation by using a self-adaptive neuro-fuzzy inference system-based auto-disturbance rejection controller, and outputs a control command, namely an elevator angle delta s of the stern; (4) a steering engine executes the control command, finishes the coordination control of AUV depth and pitch attitude, and realizes the motion control under the AUV vertical plane under-actuated constraint; and (5) whether the mission is finished is judged, if the mission is finished, the data is saved and the voyage is ended, and if the mission is not finished, the control command is continuously calculated by the motion control computer. The AUV vertical plane under-actuated motion control method is suitable for the under-actuated, strong-coupling and complex motion relationship of the AUV in the vertical plane motion process, and can realize precise motion control.

The invention provides an unmanned vehicle path planning and tracking control method based on differential flatness and active-disturbance rejection and can improve the tracking effect of a four-wheel steering unmanned automobile during high-speed overtaking. The method is advantaged in that step 1, a three-degree-of-freedom four-wheel steering automobile monorail control model is established; step 2, based on the control model established in the step 1, according to the differential flatness theory, an under-actuated controlled model is converted into an input output coupling model having disturbance and having no zero dynamic subsystem; step 3, a path planning layer is established above a tracking control layer; and step 4, according to the input output coupling model based on the step 2, an active-disturbance rejection controller based on a generalized proportion integration observer is designed, and tracking of locus planned in the step 3 is realized.