观测器带宽参数化的自抗扰控制

控制工程 ›› 2022, Vol. 29 ›› Issue (7) : 1181-1186.

观测器带宽参数化的自抗扰控制

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Observer-bandwidth-based Active Disturbance Rejection Control

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摘要

一般采用带宽化的方法对自抗扰控制参数进行整定，带宽法操作简单，且与很多方法可以实现等效，但是当被控对象的动态模型不等于串联积分模型时，带宽法整定所得到的参数不能保证闭环系统的稳定性。为综合考虑控制性能和整定参数的个数，提出一种观测器带宽参数化的自抗扰控制方法。在该方法中，自抗扰控制的观测器增益依然采用带宽参数进行整定，而控制器增益按静态输出反馈设计，理论证明该方法具有一定的通用性。通过在双质量弹簧系统中的应用仿真验证了该方法的有效性。

Abstract

The bandwidth method, which is simple to operate and can be equivalent to many existing methods, is generally applied to tune the parameters of active disturbance rejection control (ADRC). However, when the dynamic model of the controlled plant is not equal to the integral cascade model, the tuned parameters cannot guarantee the stability of the closed-loop system. To solve the problem of trade-off between the control performance and number of tuning parameters, an observer-bandwidth-based ADRC algorithm is proposed. In this modified ADRC strategy, we tune the observer gains by bandwidth and controller gains by static output feedback, and the theoretical analysis proves its generality. Simulations on two-mass-spring system have been tested to demonstrate the efficiency of the proposed method.

导出引用

李健, 谭文, 张彬文. 观测器带宽参数化的自抗扰控制[J]. 控制工程, 2022, 29(7): 1181-1186

LI Jian, TAN Wen, ZHANG Bin-wen. Observer-bandwidth-based Active Disturbance Rejection Control[J]. Control Engineering of China, 2022, 29(7): 1181-1186