Generalized Disturbance Rejection Control With Uniform Estimator Design
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Solution Overview
Problem
Existing disturbance rejection controllers in electromechanical control systems face challenges such as the need for inverse models, measurable derivative information, and incomplete utilization of model information, making it difficult for engineers to design appropriate estimators that are structurally uniform and functionally interchangeable.
Innovation Solution
A generalized estimator (GE) and generalized disturbance rejection controller (GDRC) are introduced, comprising an inner-loop estimation controller and nominal model module, allowing for a structurally uniform and functionally interchangeable design capable of adapting to different control strategies based on existing conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional disturbance rejection controllers (DOBC, TC, ADRC, etc.) are used, then specific control functions are achieved, but device complexity and design difficulty increase due to different prerequisites and structures for each controller type
Solution Approach 1:
The patent creates a unified disturbance rejection controller framework that can function as multiple specific controllers (DOBC, TC, ADRC, etc.) by adjusting parameters and configuration. This single unified structure replaces multiple separate controller designs, reducing overall system complexity while maintaining all required disturbance rejection capabilities through parameter adaptation rather than structural redesign.
2Measurement precision
If different estimator designs are used for different control strategies, then specific estimation requirements are met, but ease of operation decreases due to lack of uniform design principles
Solution Approach 1:
The unified controller achieves different estimation functions by changing parameters (bandwidth, filter coefficients, gain values) rather than changing the fundamental structure. Engineers can obtain different estimator behaviors (DOB, ESO, TC-like) by adjusting parameter sets within the same structural framework, making design easier and more systematic while maintaining estimation accuracy through optimized parameter selection.
3Manufacturing precision
If nominal models are fully utilized in controller design, then manufacturing precision improves, but device complexity increases due to more extensive model information requirements
Solution Approach 1:
The unified controller structure processes nominal model information in a single integrated framework that can extract and utilize different aspects of the model (inverse dynamics, intermediate variables, derivative information) through parameter configuration. This avoids the need for separate specialized structures for each model utilization approach, reducing complexity while maintaining full model information utilization for precise control.
Data Source
AI summary
The present disclosure belongs to the field of estimators, and provides a generalized estimator (GE), and a generalized disturbance rejection controller (GDRC) and a design method thereof. The GE includes an inner-loop estimation controller and a nominal model module of a controlled object. The inner-loop estimation controller transmits a control signal to the nominal model module. The nominal model module includes a nominal model of the controlled object. The GE is structurally uniform, and functionally interchangeable. With the structure of the GE, the typical disturbance rejection controller (DRC) is unified to a same control framework to obtain the GDRC that is more universal. The GDRC can design different control strategies according to existing conditions of most systems.