基于参考模型的扰动观测器控制系统

Reference model based disturbance observer control system

中文关键词  参考模型  扰动观测器  线性自抗扰控制  稳定性  跟踪精度

英文关键词  reference model  disturbance observer  linear active disturbance rejection control  stability  tracking accuracy

中文摘要

      为了补偿控制系统的未知动态和外部扰动, 论文提出一种基于参考模型的扰动观测器控制系统. 首先, 分 析了二阶理想参考模型控制系统的设计, 并通过闭环传递函数证明了参考模型控制系统的稳定性. 然后, 设计了二 阶系统扰动观测器和基于参考模型的扰动观测器控制律, 分析了二阶闭环控制误差系统收敛性. 并推广到n阶控制 系统, 证明了n阶闭环控制误差系统稳定性. 最后, 仿真实验结果表明, 与线性自抗扰控制(LADRC)系统相比, 基于 参考模型的扰动观测器控制系统阶跃响应的跟踪精度和抗扰性能明显优于LADRC系统, 扰动的估计精度高, 控制 输入量小于LADRC系统; 基于参考模型的扰动观测器控制系统正弦跟踪精度和扰动的估计精度也高于LADRC系 统. 该新型控制系统结构简单, 抗扰性能好, 控制效率高, 具有重要的工程应用价值.

英文摘要

      A reference model based disturbance observer control system is presented in this paper in order to compensate unknown dynamics and external disturbances of the control system. First, the second-order ideal reference model control system is designed, and the stability of the reference model control system is proved via the closed-loop transfer function. Then, the disturbance observer and reference model based disturbance observer control law of the second-order system are designed, and the convergence of the second-order closed-loop control error system is analysed. Third, the novel control method is extended to a general n-th order control system, and the stability of the n-th order closed-loop control error system is proved. Finally, the results of simulation tests show that the step response tracking accuracy and rejecting disturbances performance of the reference model based disturbance observer control system are much better than those of the linear active disturbance rejection control (LADRC) system with higher disturbance estimation precision and smaller control input values. The sine tracking accuracy and disturbance estimation precision of the reference model based disturbance observer control system are still higher than those of the LADRC system. The novel control system has the simpler structure, better disturbance rejection and higher control efficiency. It has important engineering application values.