基于高阶控制器设计的线性自抗扰控制参数调整

发布时间：2018-09-17 16:53

【摘要】：将反馈控制器/扩张状态观测器闭环极点配置在同一位置是线性自抗扰控制器(linear active disturbance rejection control,LADRC)最常用的整定方法.该方法只需调整两个参数,在工程应用上极为方便.但是,由于极点配置在同一位置的限制,整定的LADRC可能达不到期望的性能.本文提出以现有控制器参数为基础的LADRC调参方法.该方法以现有控制器参数为基础,通过降阶及逼近,保证LADRC控制能接近现有控制系统的性能.仿真设计表明采用高阶控制器设计的LADRC可以取得与原有控制系统相当的控制性能.该方法不受带宽法调参的需使反馈控制器及扩张观测器极点配置在同一位置的限制,因此可以期望获得比带宽法更好的性能.同时,该方法为已经熟悉掌握其他控制器设计方法的工程控制人员提供了一种便捷的调整线性自抗扰控制参数的方案,具有较好的应用价值.
[Abstract]:The feedback controller / extended state observer closed loop pole placement in the same position is the most commonly used tuning method for linear active disturbance rejection controller (linear active disturbance rejection control,LADRC). This method only needs to adjust two parameters, which is very convenient in engineering application. However, due to the limitation of pole configuration in the same location, the LADRC may not achieve the desired performance. In this paper, a LADRC parameter adjusting method based on the existing controller parameters is proposed. This method is based on the existing controller parameters and ensures that the LADRC control can approach the performance of the existing control system by order reduction and approximation. The simulation results show that the LADRC designed by high order controller can achieve the same control performance as the original control system. The proposed method is not restricted by the need for the feedback controller and the extended observer to be configured in the same position, so it can be expected to achieve better performance than the bandwidth method. At the same time, this method provides a convenient scheme for engineering controllers who are familiar with other controller design methods to adjust the parameters of linear ADRC control, and has good application value.
【作者单位】：华北电力大学控制与计算机工程学院;
【基金】：国家自然科学基金项目(61573138,61403137) 中央高校基本科研业务费专项资金资助~~
【分类号】：TP273

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