基于高阶控制器设计的线性自抗扰控制参数调整

Parameters tuning of linear active disturbance rejection control based on high order controller design

中文关键词  线性自抗扰控制  参数调整  带宽  降阶  近似  高阶控制器

英文关键词  linear active disturbance rejection control (LADRC)  parameter-tuning  bandwidth  order reduction  approximation  high order controller

中文摘要

      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.

英文摘要

      Placing the poles of the state feedback loop/extended state observer to the same position (so called bandwidth-based tuning) is the most useful method to tune the linear active disturbance rejection controller (LADRC). The method just needs to tune two parameters thus is simple to apply in practice. However, due to the limitation of the same-pole position, bandwidth tuning may not be able to achieve the desired control performance. This paper proposes a convenient LADRC tuning method. The method makes use of the existing controllers as its initial parameters, and tries to guarantee that the tuned LADRC approximates the existing controllers through order reduction and approximation. Design examples show that the proposed method can obtain the comparable control performance with the original controllers. This method does not have to make the feedback controller and the extended observer assign the poles in the same position, so it can be expected to achieve better performance. Moreover, it provides a convenient method to tune the parameters of LADRC for those control engineers who are already familiar with other control design methods.