CN106950839A - A kind of building method of Active Disturbance Rejection Control structure - Google Patents
A kind of building method of Active Disturbance Rejection Control structure Download PDFInfo
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Abstract
The present invention relates to a kind of building method of Active Disturbance Rejection Control structure.This method includes step：1) feedback controller C (s)/s and prefilter F (s) and satisfaction are being includedWithTraditional Active Disturbance Rejection Control structure on increase by one output feedback score controller；2) under traditional Active Disturbance Rejection Control structure, for n rank objects, design n+1 ranks tie up extended state observer entirely；3) by the way of POLE PLACEMENT USING, obtain tieing up extended state observer gain entirely；4) new Active Disturbance Rejection Control rule is built with carrying out POLE PLACEMENT USING under full dimension feedback of status effect in output feedback score controller.Experiment and simulation result show, Active Disturbance Rejection Control structure constructed according to the invention realizes the zero steady state error control to slope Disturbance Rejection, the effect of step AF panel can also be improved simultaneously, with strong robustness and floating slope Disturbance Rejection ability, the engineering practical value of Active Disturbance Rejection Control can be lifted.
Description
Technical field
The invention belongs to technical field of automation in industry, in particular it relates to a kind of building method of Active Disturbance Rejection Control structure.
Background technology
In actual industrial production, control system suffers from the influence of various external disturbances, is showed in mechanical system
For slope perturbed force, such as aspect control system by persistently enhanced pneumatic shear stress, Vibration Control of Offshore Platform system by
Continue enhanced hydrodynamic pressure, the increase of power system load linearity etc.；It is linear that environment temperature can be shown as in therrmodynamic system
Increase；It can show as supplying linearly increasing mass deviation of fluid etc. in process control.The presence of slope disturbance makes system
Operating point drifts about, and influences control performance, or even cause system unstable.As modern industry is to control system performance and essence
Desired continuous improvement is spent, design controller realizes that the floating of slope disturbance suppresses to play an important roll and meaning.
Non-minimum phase system is widely present in robot flexibility structure control, ship course keeping control and attitude of flight vehicle control
In the practical problems such as system.Because non-minimum phase system has RHP zero pole point, one a pair between amplitude-frequency and phase frequency are unsatisfactory for
Domain Design and analysis method in the relation answered, classical control theory are no longer applicable.Non-minimum phase link can be to system
Stability, robustness and dynamic property etc. have a negative impact, so the control ratio minimum phase system of non-minimum phase system
It is much more difficult.Dynamic characteristic additionally, due to real system is sufficiently complex, such as the change of operating mode, the aging of system element,
Non-minimum phase characteristic is easily included in the null offset of component and system Unmarried pregnancy etc., uncertainty, causes tradition
Controller fails.Therefore, the problem of system control problem comprising non-minimum phase characteristic is always control field extensive concern
One of.
External disturbance for system suppresses and inside is uncertain, and Active Disturbance Rejection Control is a kind of effective control strategy.
Its basic thought is that model uncertainty, external disturbance is even non-linear as a total disturbance, and is seen by expansion state
Survey device actively to estimate and compensate, the dependence to model has been broken away from significantly.Series connection integrating system after disturbance compensation is again by simple
POLE PLACEMENT USING just can reach desired closed-loop dynamic.Active Disturbance Rejection Control is designed for minimum phase system, is led to
Two bandwidth parameters closely related with systematic function are overregulated, linearisation and the parametrization of Active Disturbance Rejection Control is realized, has
The advantages of strong robustness, simple in construction, fast response time, small overshoot, the development and application of Active Disturbance Rejection Control is greatly facilitated.
However, when object has non-minimum phase characteristic, the disturbance compensation of traditional Active Disturbance Rejection Control can make in system circuit comprising just
Feedback, therefore for non-minimum phase system, it is necessary to which using specific method for designing, such as the adjustment of Relative order, selection are suitable
Bandwidth and target gain parameter.For Disturbance Rejection effect, although by selecting appropriate controller parameter, Active Disturbance Rejection Control energy
Realize that the floating of step disturbance suppresses, but disturbed for slope, anyway regulating system parameter, steady-state error is deposited all the time
This just limits the engineer applied of Active Disturbance Rejection Control.Therefore, by the improvement to existing Active Disturbance Rejection Control structure, design one
New Active Disturbance Rejection Control structure is planted, and is applied to minimum phase and non-minimum phase system simultaneously, is had great importance.
The content of the invention
For problem present in above-mentioned background technology, it is an object of the invention to provide a kind of Active Disturbance Rejection Control structure
Building method, comprises the following steps：
1) feedback controller C (s)/s and prefilter F (s) and satisfaction are being includedWithTraditional Active Disturbance Rejection Control structure under, increase by one output feedback score controller,
Wherein, r is given input, and y exports for system；Order output feedback score controller gain is kr；
2) under traditional Active Disturbance Rejection Control structure, for n rank objects, design n+1 ranks tie up extended state observer entirely；
3) by the way of POLE PLACEMENT USING, obtain in step 2) the middle full dimension extended state observer gain L designed, have
|sI-(AE-LCE) |=(s+ ωo)n+1
Wherein, ωoExtended state observer parameter is tieed up to be complete,
4) in output feedback score controller with full dimensional expansion feedback of status effect, designing output feedback score controller
Gain krWith full dimension extended state observer feedback oscillator Kz, build new Active Disturbance Rejection Control rule
Wherein, b0For target gain, take
Wherein, ωcFor bandwidth parameter, work as krWith KzWhen meeting above-mentioned condition, the transmission function of closed-loop system is approximately
Further, b0Value is the molecule lower-degree coefficient and denominator higher order coefficient of the transmission function of the closed-loop system
Ratio.
Further, the full dimension extended state observer parameter ω o and bandwidth parameter ωcMeet ωo≥ωc。
The present invention uses above-mentioned technical proposal, has an advantageous effect in that：The present invention is in the basic of traditional Active Disturbance Rejection Control
" control of output feedback score " on algorithm, is added, the zero steady state error control to slope Disturbance Rejection is realized, while step can also be improved
The effect of AF panel；On the rudimentary algorithm of traditional Active Disturbance Rejection Control, using full dimension extended state observer, when object is present
Uncertainty introduces relative exponent number change, or when introducing non-minimum phase zero point, is still imitated with good point stabilization
Fruit and the zero steady state error control of slope Disturbance Rejection；In integral controller with carrying out POLE PLACEMENT USING under full dimension feedback of status effect, obtain
To a kind of new Active Disturbance Rejection Control rule, the robustness and Disturbance Rejection performance of Active Disturbance Rejection Control system are improved, is improved from anti-
Disturb the dependable with function that controller is applied in industrial control system field.
Brief description of the drawings
Fig. 1 is the schematic diagram of Active Disturbance Rejection Control structure constructed according to the invention；
Fig. 2 is the slope Disturbance Rejection floating schematic diagram of Active Disturbance Rejection Control structure constructed according to the invention；
Fig. 3 is application principle figure of the Active Disturbance Rejection Control structure in DC motor speed regulation；
Fig. 4 is the DC motor speed regulation of the Active Disturbance Rejection Control structure using traditional Active Disturbance Rejection Control structure and the present invention
Active Disturbance Rejection Control effect comparison schematic diagram；
Fig. 5 is traditional Active Disturbance Rejection Control structure and Active Disturbance Rejection Control structure constructed according to the invention in non-minimum phase pair
Slope Disturbance Rejection effect comparison schematic diagram during as ρ=- 1；
Fig. 6 is traditional Active Disturbance Rejection Control structure and Active Disturbance Rejection Control structure constructed according to the invention in minimum phase plant
Slope Disturbance Rejection effect comparison schematic diagram during ρ=1；
Fig. 7 is that traditional Active Disturbance Rejection Control structure and Active Disturbance Rejection Control structure constructed according to the invention change ρ in Relative order
Slope Disturbance Rejection effect comparison schematic diagram when=0.
Embodiment
To further illustrate each embodiment, the present invention is provided with accompanying drawing.These accompanying drawings are the invention discloses the one of content
Point, it is mainly to illustrate embodiment, and can coordinate the associated description of specification to explain the operation principles of embodiment.Coordinate ginseng
These contents are examined, those of ordinary skill in the art will be understood that other possible embodiments and advantages of the present invention.
In conjunction with the drawings and specific embodiments, the present invention is further described.
With reference to Fig. 1 and 2, the construction method of the Active Disturbance Rejection Control structure of the present invention is described.The construction method includes following step
Suddenly：
1) feedback controller C (s)/s and prefilter F (s) and satisfaction are being includedWithTraditional Active Disturbance Rejection Control structure under, increase by one output feedback score controller,
Wherein, r (t) is given input, and y (t) exports for system；It is k to make integral controller gainr；
2) under traditional Active Disturbance Rejection Control structure, for n rank objects, design n+1 ranks tie up extended state observer entirely；
3) by the way of POLE PLACEMENT USING, obtain in step 2) the middle full dimension extended state observer gain L designed, have
|sI-(AE-LCE) |=(s+ ωo)n+1
Wherein, ω o are full dimension extended state observer parameter,
4) it is anti-with carrying out POLE PLACEMENT USING, design output under full dimensional expansion feedback of status effect in output feedback score controller
Present integral controller gain krWith full dimension extended state observer feedback oscillator Kz, build new Active Disturbance Rejection Control rule
Wherein, b0For target gain, take
Wherein, ωcFor bandwidth parameter, work as krWith KzWhen meeting above-mentioned condition, the transmission function of closed-loop system is approximately
Wherein, bandwidth parameter ωcIt is related to system closed-loop bandwidth, reflect system closed loop response speed；Bandwidth parameter ωc
With full dimension extended state observer parameter ωoGeneral satisfaction ωo≥ωc；Target gain b0It can be taken as ssystem transfer function molecule low
The ratio of level number and denominator higher order coefficient.The parameter tuning of Active Disturbance Rejection Control structure constructed according to the invention follows tradition certainly
The parameter selection method of disturbance rejection control structure.
Therefore, Active Disturbance Rejection Control structure constructed according to the invention includes controlled device, and extended state observer, defeated is tieed up entirely
Go out feedback score controller and state feedback controller.
Output feedback score controller is after being compared by output feedback with reference input, to form error intergal control,
Export feedback score controller and include a gain-adjusted parameter.
Full dimension extended state observer, is to tie up extended state observer entirely to the n+1 ranks that pin n ranks object is built, without examining
The relative exponent number of worry system.Due to using full dimension extended state observer, even if object is due to caused by the uncertainty of presence
Changed with respect to exponent number, or introduce non-minimum phase zero point, under Active Disturbance Rejection Control structure proposed by the present invention, by setting
Suitable parameter is counted, can calm and realize slope Disturbance Rejection zero steady state error control.It can be seen that, the Auto-disturbance-rejection Control has strong
Robustness, can be applied to the controlled device that minimum phase plant and non-minimum phase plant and Relative order change simultaneously.
State feedback controller is to match somebody with somebody in integral controller with carrying out limit under full dimension extended state observer feedback effect
Put, by storage gain krWith the feedback oscillator K of full dimension extended state observerzBuild jointly.
Slope Disturbance Rejection floating principle is as shown in Figure 2：An output is added in traditional Active Disturbance Rejection Control structure
Feedback integrator, it is considered to disturbance input to system export between transmission function be
The stable state of system is output as
When disturbance is Stepped Impedance Resonators d (s)=1/s or ramp input d (s)=1/s2When, haveObviously, exist
Under traditional Active Disturbance Rejection Control effect, ramp input d (s)=1/s2When,
Illustrate the beneficial effect of Active Disturbance Rejection Control structure constructed according to the invention below by two examples.
Example 1：The example is practical application of the present invention in electric machine speed regulation control, is controlled by the rotating speed of direct current generator
Verify the application effect of the present invention.Fig. 3 is the Active Disturbance Rejection Control system of DC motor speed regulation.By direct current generator, PWM moulds
Block, driver, automatic disturbance rejection controller, rotation speed measuring module are constituted.Wherein, encoder is arranged in brushed DC motor, coding
Device pulse signal enters rotation speed measuring module, the speed (revolutions per second) of rotation speed measuring module output motor rotation；Setting speed and electricity
Machine actual speed enters automatic disturbance rejection controller, produces dutycycle output, produces PWM；Drive device is in pwm pulse control action
Under, to motor operating voltage so that motor operation.
The recognized transfer function model for obtaining motor
Using traditional Active Disturbance Rejection Control structure, regulating system parameter chooses ωc=10, ωo=49.4 and b0=9175 make
For Active Disturbance Rejection Control parameter.The speed of given system is set as r (t)=30r/s, and t=5s adds slope disturbance in systems.
Using Active Disturbance Rejection Control structure constructed according to the invention, the rotating speed control effect of motor is as indicated in a solid line in fig. 4
System response enters stable state within 2s, and running only has smaller overshoot, do not vibrate, with good dynamic response characteristic and
Interference rejection ability.After slope disturbance is added, system realizes floating Disturbance Rejection by of short duration adjustment, and effect is notable, together
When, the controlled quentity controlled variable of the motor held stationary during the Disturbance Rejection of slope.Using identical controller parameter, traditional active disturbance rejection control
The motor speed of system is as shown in Fig. 4 dotted lines, although response speed is very fast, lack floating without overshoot, but for slope disturbance
Rejection ability, steady-state error is very big, and in order to overcome the rotating speed that slope disturbance is produced to export diverging, traditional Active Disturbance Rejection Control needs
Keep larger control action.
The example illustrates that Active Disturbance Rejection Control structure constructed according to the invention is feasible, effective in actual applications.
Example 2：Give a uncertain system
The system contains minimum phase and non-minimum phase, and the relative exponent number of simultaneity factor may change.Choose
Parameter ωc=2, ωo=28.9164, b0=11.6793 are used as Active Disturbance Rejection Control parameter.Added in step response t=20s oblique
Slope disturbance input.
Choose ρ=- 1, ρ=1 and ρ=0 three kind situation carries out step response and the control test of slope Disturbance Rejection.It is controlled
Effect is respectively as shown in Fig. 5,6 and 7.It can be seen that, no matter system is in minimum phase situation, or non-minimum phase situation or system
Relative exponent number change, Active Disturbance Rejection Control structure constructed according to the invention can realize slope disturbance floating suppression
System.
In a word, Active Disturbance Rejection Control structure constructed according to the invention, simple in construction, excellent effect so that Active Disturbance Rejection Control
Technology can really be applied to general practical object, received by vast control engineer, greatly improve automatic disturbance rejection controller
Engineering practical value.
Although specifically showing and describing the present invention with reference to preferred embodiment, those skilled in the art should be bright
In vain, do not departing from the spirit and scope of the present invention that appended claims are limited, in the form and details can be right
The present invention makes a variety of changes, and is protection scope of the present invention.
Claims (3)
1. a kind of building method of Active Disturbance Rejection Control structure, it is characterised in that the building method comprises the following steps：
1) feedback controller C (s)/s and prefilter F (s) and satisfaction are being includedWith's
Under traditional Active Disturbance Rejection Control structure, increase an output feedback score controller,
Wherein, r (t) is given input, and y (t) exports for system；Order output feedback score controller gain is kr；
2) under traditional Active Disturbance Rejection Control structure, for n rank objects, design n+1 ranks tie up extended state observer entirely；
3) by the way of POLE PLACEMENT USING, obtain in step 2) the middle full dimension extended state observer gain L designed, have
|sI-(AE-LCE) |=(s+ ωo)n+1
Wherein, ωoExtended state observer parameter is tieed up to be complete,
4) in output feedback score controller with full dimensional expansion feedback of status effect, designing output feedback score controller gain
krWith full dimension extended state observer feedback oscillator Kz, build new Active Disturbance Rejection Control rule：
Wherein, b0For target gain, take
Wherein, ωcFor bandwidth parameter, work as krWith KzWhen meeting above-mentioned condition, the transmission function of closed-loop system is approximately
2. the building method of Active Disturbance Rejection Control structure as claimed in claim 1, it is characterised in that b0Value is the closed loop system
The molecule lower-degree coefficient of the transmission function of system and the ratio of denominator higher order coefficient.
3. the building method of Active Disturbance Rejection Control structure as claimed in claim 1, it is characterised in that the full dimensional expansion State Viewpoint
Survey device parameter ωoWith the bandwidth parameter ωcMeet ωo≥ωc。
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Cited By (9)
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| CN108919643A (en) * | 2018-06-28 | 2018-11-30 | 华北电力大学 | A kind of robust tuning method for linear active disturbance rejection controller parameter |
| CN110161857A (en) * | 2019-05-24 | 2019-08-23 | 华侨大学 | A kind of Auto-disturbance-rejection Controller Design method suitable for non-minimum phase system |
| CN110297425A (en) * | 2019-07-16 | 2019-10-01 | 华侨大学 | A kind of parameter bandwidthization and energetic high performance self-adaption disturbance rejection control method |
| CN110554601A (en) * | 2019-09-05 | 2019-12-10 | 华侨大学 | Design method and device of anti-interference PID controller |
| CN110597063A (en) * | 2019-09-24 | 2019-12-20 | 燕山大学 | Active suspension output feedback control method based on nonlinear extended state observer |
| CN111352345A (en) * | 2020-04-08 | 2020-06-30 | 河南工业大学 | Linear active disturbance rejection control parameter setting method based on pole allocation |
| CN111413872A (en) * | 2020-04-30 | 2020-07-14 | 西南科技大学 | Air cavity pressure rapid active disturbance rejection method based on extended state observer |
| CN111538346A (en) * | 2020-06-17 | 2020-08-14 | 郑州轻工业大学 | Interference observation compensation flight control method of four-rotor helicopter |
| CN108762083B (en) * | 2018-06-13 | 2021-04-02 | 长春萨米特光电科技有限公司 | Automatic control system based on acceleration observer |
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Cited By (14)
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| CN108762083B (en) * | 2018-06-13 | 2021-04-02 | 长春萨米特光电科技有限公司 | Automatic control system based on acceleration observer |
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| CN110161857A (en) * | 2019-05-24 | 2019-08-23 | 华侨大学 | A kind of Auto-disturbance-rejection Controller Design method suitable for non-minimum phase system |
| CN110297425A (en) * | 2019-07-16 | 2019-10-01 | 华侨大学 | A kind of parameter bandwidthization and energetic high performance self-adaption disturbance rejection control method |
| CN110297425B (en) * | 2019-07-16 | 2022-09-16 | 华侨大学 | Adaptive interference rejection control method with parameter bandwidth and energy |
| CN110554601A (en) * | 2019-09-05 | 2019-12-10 | 华侨大学 | Design method and device of anti-interference PID controller |
| CN110597063B (en) * | 2019-09-24 | 2021-04-16 | 燕山大学 | Active suspension output feedback control method based on nonlinear extended state observer |
| CN110597063A (en) * | 2019-09-24 | 2019-12-20 | 燕山大学 | Active suspension output feedback control method based on nonlinear extended state observer |
| CN111352345A (en) * | 2020-04-08 | 2020-06-30 | 河南工业大学 | Linear active disturbance rejection control parameter setting method based on pole allocation |
| CN111352345B (en) * | 2020-04-08 | 2022-05-17 | 河南工业大学 | Linear active disturbance rejection control parameter setting method based on pole allocation |
| CN111413872A (en) * | 2020-04-30 | 2020-07-14 | 西南科技大学 | Air cavity pressure rapid active disturbance rejection method based on extended state observer |
| CN111413872B (en) * | 2020-04-30 | 2022-03-01 | 西南科技大学 | Air cavity pressure rapid active disturbance rejection method based on extended state observer |
| CN111538346A (en) * | 2020-06-17 | 2020-08-14 | 郑州轻工业大学 | Interference observation compensation flight control method of four-rotor helicopter |
| CN111538346B (en) * | 2020-06-17 | 2023-02-10 | 郑州轻工业大学 | Interference observation compensation flight control method of four-rotor helicopter |
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