双质量弹簧基准问题自抗扰控制研究

Re-visit the active disturbance rejection control approach for the two-mass-spring benchmark problem

中文关键词  自抗扰控制  双质量弹簧基准问题  鲁棒控制  带宽

英文关键词  active disturbance rejection control (ADRC)  two-mass-spring benchmark problem  robust control  bandwidths

中文摘要

      本文研究了自抗扰控制(active disturbance rejection control, ADRC)方法在双质量弹簧基准问题的应用. 传统的自抗扰控制方法倾向于使用高增益控制来抑制扰动和模型不确定性, 但是对于双质量弹簧基准问题, 高增益在评分中受到较大惩罚, 而且对于模型参数变化没有足够的鲁棒性. 为解决这一问题, 本文对ADRC设计提出了两种改进方案. 首先, 为了减小控制信号的幅度, 将扩张状态观测器(extended state observer, ESO)的一个极点配置在原点. 其次, 采用阻尼比来调整带宽. 结果表明, 所提出的ADRC设计可以很好地解决双质量弹簧基准系统的控制问题.

英文摘要

      Active disturbance rejection control (ADRC) method is applied to solve the two-mass-spring benchmark problem. Conventional ADRC method tends to use a high gain to reject the disturbances and model uncertainties, however, high gain is heavily penalized in the scoring system, and it is unable to maintain sufficient robustness against parameter variations for the benchmark problem. To solve the problem, two modifications are proposed for ADRC design. First, to decrease the magnitude of the control signal, one of the poles of the extended state observer (ESO) is placed at the origin. Second, the bandwidths are tuned with additional damping ratios. With the proposed ADRC design, it is shown that ADRC can indeed solve the benchmark problem with a very good score.