基于频域近似的线性系统自抗扰参数整定

Tuning of linear active disturbance rejection control via frequency domain approximation

中文关键词  线性自抗扰控制  参数整定  控制器频域近似  带宽法

英文关键词  LADRC  parameters tuning  frequency domain approximation  bandwidth method

中文摘要

      采用带宽法进行线性自抗扰控制器 (Linear active disturbance rejection control, LADRC)参数整定是目前被普遍接受的调参方法，便于工程人员理解，但由于控制器阶数和相对增益的选择问题限制了其推广。现有的很多基于模型的控制算法都有相对成熟且便于理解的整定方法，同时可以获得满意的控制性能，因此，本文提出基于频域近似的LADRC参数整定方法。该方法通过基于模型的（本文以广义自抗扰控制为例）控制算法求得反馈控制器，然后通过在一定频域内将二阶LADRC与其近似，通过求解非线性方程组的解来得到相应的LADRC参数整定：b0、ωc和ωo。实验仿真表明，通过该方法整定的控制器既保持了LADRC的特性同时继承了反馈控制器的部分优良特性，其结构简单，便于工程实现，为工程人员提供了一种新的参数整定思路。

英文摘要

      The bandwidth method is the most commonly used parameters tuning method for linear active disturbance rejection controller (LADRC). However, the controller is of high order and it is difficult to select the relative gain while applied to complicated processes. Thus, this paper proposes a frequency domain approximate tuning method based on the controller with known plant information. The controller is designed via general active disturbance rejection control (GADRC), and then parameters of second-order LADRC can be achieved by approximation with GADRC in frequency domain. Combing the advantages of both LADRC and GADRC or other controllers, it can be expected to attain desired performance with convenience.