CN108828950B - Self-adaptive active disturbance rejection control method, device and equipment - Google Patents
Self-adaptive active disturbance rejection control method, device and equipment Download PDFInfo
- Publication number
- CN108828950B CN108828950B CN201810812319.2A CN201810812319A CN108828950B CN 108828950 B CN108828950 B CN 108828950B CN 201810812319 A CN201810812319 A CN 201810812319A CN 108828950 B CN108828950 B CN 108828950B
- Authority
- CN
- China
- Prior art keywords
- control
- gain
- controller gain
- signal
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
The application discloses a self-adaptive active disturbance rejection control method, which comprises the following steps: inputting the parameter change quantity of the controlled object into the controller gain compensator to calculate and obtain the controller gain compensation quantity; taking the sum of the initial value of the controller gain of the control system and the compensation quantity of the controller gain as the compensated controller gain; and inputting an output signal and a total control quantity of the control system and the compensated controller gain into an extended state observer, and calculating the total control quantity according to the total disturbance estimation value output by the extended state observer, the PD control quantity output by the PD controller and the compensated controller gain so as to perform active disturbance rejection control on the controlled object by using the compensated controller gain. According to the method and the device, the gain of the controller is compensated according to the parameter change quantity of the controlled object, the control performance is effectively improved, and the application range is expanded. The application also discloses a self-adaptive active disturbance rejection control device and equipment, and the self-adaptive active disturbance rejection control device and equipment also have the beneficial effects.
Description
Technical Field
The present application relates to the field of active disturbance rejection control technologies, and in particular, to a method, an apparatus, and a device for adaptive active disturbance rejection control.
Background
Auto/Active Disturbance Rejection Controller (ADRC) is a nonlinear control algorithm developed in the nineties of the last century, and aims to solve the control problem of some complex nonlinear systems, especially time-lag systems.
Although the traditional active disturbance rejection control algorithm has achieved better control effect than the PID method in the aspect of nonlinear system control, it is found through research that the control performance of the active disturbance rejection control algorithm is sensitive to the system parameters of the controlled object (such as the steady-state gain and the time lag time of the controlled object). Therefore, the control effect of the traditional active disturbance rejection control method is seriously influenced by the change of the system parameters of the controlled object.
Therefore, how to design a self-adaptive active disturbance rejection control method to effectively improve the control effect of the time-lag system for system parameter change is a technical problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The application aims to provide a self-adaptive active disturbance rejection control method, a self-adaptive active disturbance rejection control device and self-adaptive active disturbance rejection control equipment, so that the control effect of a time-lag system for system parameter change is effectively improved.
In order to solve the above technical problem, the present application provides a method for adaptive auto-disturbance-rejection control, including:
inputting an input signal of a control system into a tracking differentiator to calculate a tracking signal and a differential signal for acquiring the input signal;
inputting the parameter change quantity of the controlled object into the controller gain compensator to calculate and obtain the controller gain compensation quantity; taking the sum of the initial value of the controller gain of the control system and the compensation quantity of the controller gain as the compensated controller gain;
inputting the output signal and the total control quantity of the control system and the compensated controller gain into an extended state observer to calculate and obtain a first state estimation value, a second state estimation value and a total disturbance estimation value;
calculating a difference between the tracking signal and the first state estimate as a tracking error signal; calculating a difference between the differentiated signal and the second state estimate as a differentiated error signal; inputting the tracking error signal and the differential error signal to a PD controller to calculate and obtain a PD control quantity;
calculating the total control quantity according to the PD control quantity, the total disturbance estimation value and the compensated controller gain; and outputting the total control quantity to a controlled object so as to control the controlled object.
Optionally, the tracking differentiator has an expression:
wherein, fhan is the fastest control comprehensive function; v (t) is the input signal; v. of1(k) A tracking signal of v (t); v. of2(k) A differential signal of v (t); t is1Is the integration step of the tracking differentiator; r is1Is a velocity factor of the tracking differentiator; h is1Is the filter factor of the tracking differentiator.
Optionally, the parameter change amount of the controlled object includes a gain change amount and a time lag time change amount of the controlled object; the expression of the controller gain compensator is as follows:
Δb0＝α(ΔK·τ+Δτ·K+ΔK·Δτ)；
wherein, Δ b0A gain compensation amount for the controller; alpha is a gain compensation coefficient; Δ K is the gain change amount of the controlled object; k is the initial value of the gain of the controlled object; Δ τ is the amount of time-lapse change; tau is the initial value of the time lag time.
Optionally, the expression of the extended state observer is:
wherein y (k) is the output signal in a discrete state; u is the total control quantity; t is2Is the integration step length of the extended state observer; z is a radical of1(k) Is the first state estimate; z is a radical of2(k) Is the second state estimate; z is a radical of3(k) Is the total disturbance estimated value; beta is a1、β2And beta3All are state observation coefficients; f is the sampling frequency; b'0Is the compensated controller gain, b'0＝b0+Δb0，b0Is the initial value of the gain of the controller, Δ b0And compensating the gain of the controller.
Optionally, the inputting the output signal of the control system and the total control amount and the compensated controller gain to an extended state observer includes:
inputting the output signal to a filter to obtain a filtered output signal;
and inputting the filtered output signal, the total control quantity and the compensated controller gain to the extended state observer.
Optionally, the expression of the filter is:
wherein, fhan is the fastest control comprehensive function; y (t) is the output signal in the time domain; x is the number of1(k) A tracking signal of y (t); x is the number of2(k) A differential signal of y (t); t is3Is the integration step size of the filter; r is2Is the speed factor of the filter; h is2Is a filter factor of the filter; y is1(k +1) is the filtered output signal in a discrete state.
Optionally, the inputting the filtered output signal and the total control quantity and the compensated controller gain to the extended state observer comprises:
inputting the filtered output signal to a time-lag compensator to calculate and obtain a time-lag compensated output signal;
and inputting the output signal after time lag compensation, the total control quantity and the compensated controller gain to the extended state observer.
Optionally, the expression of the skew compensator is:
y2(t)＝eτ′y1(t)；
wherein, y1(t) is the filtered output signal in the time domain; y is2(t) is the time lag compensated output signal in the time domain; τ' is the changed time lag, τ + Δ τ, τ is the initial value of the time lag, and Δ τ is the time lag change amount.
The application also provides a self-adaptive active disturbance rejection control device, including:
a tracking differentiator: the tracking signal and the differential signal of the input signal are obtained through calculation according to the input signal of a control system;
controller gain compensator: the controller gain compensation quantity is calculated and obtained according to the gain change quantity and the time lag time change quantity of the controlled object; so as to take the sum of the initial value of the controller gain of the control system and the compensation amount of the controller gain as the compensated controller gain;
and (3) expanding the state observer: the controller is used for calculating and acquiring a first state estimation value, a second state estimation value and a total disturbance estimation value according to the output signal and the total control quantity of the control system and the compensated controller gain;
the PD controller: the PD control quantity is calculated and obtained according to the tracking error signal and the differential error signal; and calculating and acquiring the total control quantity according to the PD control quantity, the total disturbance estimation value and the compensated controller gain, and outputting the total control quantity to a controlled object so as to control the controlled object.
The present application further provides an adaptive active disturbance rejection control device, including:
a memory: for storing a computer program;
a processor: for executing said computer program for implementing the steps of any of the adaptive active disturbance rejection control methods as described above.
The self-adaptive active disturbance rejection control method provided by the application comprises the following steps: inputting an input signal of a control system into a tracking differentiator to calculate a tracking signal and a differential signal for acquiring the input signal;
inputting the parameter change quantity of the controlled object into the controller gain compensator to calculate and obtain the controller gain compensation quantity; taking the sum of the initial value of the controller gain of the control system and the compensation quantity of the controller gain as the compensated controller gain; inputting the output signal and the total control quantity of the control system and the compensated controller gain into an extended state observer to calculate and obtain a first state estimation value, a second state estimation value and a total disturbance estimation value; calculating a difference between the tracking signal and the first state estimate as a tracking error signal; calculating a difference between the differentiated signal and the second state estimate as a differentiated error signal; inputting the tracking error signal and the differential error signal to a PD controller to calculate and obtain a PD control quantity; calculating the total control quantity according to the PD control quantity, the total disturbance estimation value and the compensated controller gain; and outputting the total control quantity to a controlled object so as to control the controlled object.
Therefore, compared with the prior art, in the adaptive active-disturbance-rejection control method provided by the application, for the controlled object with the changed model parameters, the controller gain compensation amount is obtained through calculation according to the parameter change amount of the controlled object, so that the controller gain is compensated, and the compensated controller gain is used for performing active-disturbance-rejection control on the controlled object, so that the control performance is effectively improved, the control effect on the time-varying controlled object is improved, and the application range of the adaptive active-disturbance-rejection control method is expanded. The adaptive active-disturbance-rejection control device and equipment provided by the application can realize the adaptive active-disturbance-rejection control method and also have the beneficial effects.
Drawings
In order to more clearly illustrate the technical solutions in the prior art and the embodiments of the present application, the drawings that are needed to be used in the description of the prior art and the embodiments of the present application will be briefly described below. Of course, the following description of the drawings related to the embodiments of the present application is only a part of the embodiments of the present application, and it will be obvious to those skilled in the art that other drawings can be obtained from the provided drawings without any creative effort, and the obtained other drawings also belong to the protection scope of the present application.
Fig. 1 is a flowchart of an adaptive active disturbance rejection control method provided in the present application;
FIG. 2 is a control schematic diagram of an adaptive auto-disturbance rejection control method provided in the present application;
fig. 3 is a control schematic diagram of another adaptive active disturbance rejection control apparatus provided in the present application;
fig. 4 is a unit step response curve graph obtained by applying the adaptive active disturbance rejection control method shown in fig. 3 to a controlled object at a first time;
FIG. 5 is a graph of the total control amount corresponding to FIG. 4;
FIG. 6 is a graph of unit step response obtained by the adaptive auto-disturbance rejection control method shown in FIG. 3 for a controlled object at a second time;
fig. 7 is a unit step response graph obtained by applying the adaptive active disturbance rejection control method shown in fig. 3 to a controlled object at a third time.
Detailed Description
The core of the application is to provide a self-adaptive active disturbance rejection control method, a self-adaptive active disturbance rejection control device and self-adaptive active disturbance rejection control equipment, so that the control effect of a time-lag system for system parameter change is effectively improved.
In order to more clearly and completely describe the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1 and fig. 2, fig. 1 is a flowchart illustrating an adaptive active-disturbance-rejection control method provided in the present application, and fig. 2 is a control schematic diagram illustrating the adaptive active-disturbance-rejection control method provided in the present application.
The self-adaptive active disturbance rejection control method mainly comprises the following steps:
step 1: inputting an input signal v (t) of the control system to a tracking differentiator to calculate a tracking signal v (t) which is used to obtain the input signal v (t)1(k) And a differential signal v2(k)。
Step 2: the parameter variation of the controlled object is input to the controller gain compensator to calculate and obtain the controller gain compensation quantity delta b0(ii) a And the initial value b of the gain of the controller of the control system0And controller gain compensation amount deltab0As compensated controller gain b'0。
And step 3: the output signal y (t) of the control system, the total control quantity u and the compensated controller gain b 'are compared'0Inputting the first state estimation value z into an extended state observer to calculate and obtain the first state estimation value z1(k) And a second state estimate z2(k) And the total disturbance estimate z3(k)。
And 4, step 4: calculating a tracking signal v1(k) And the first state estimate z1(k) As a tracking error signal e1(k) (ii) a Calculating a differential signal v2(k) And a second state estimate z2(k) As a differential error signal e2(k) (ii) a Will track the error signal e1(k) And a differential error signal e2(k) Input into the PD controller to calculate and obtain a PD control quantity uPD。
And 5: controlling the quantity u according to PDPDAnd the total disturbance estimate z3(k) And compensated controller gain b'0Calculating a total control quantity u; and outputting the total control quantity u to the controlled object so as to control the controlled object.
Specifically, the active disturbance rejection control method provided by the application mainly uses the following four parts: a Tracking Differentiator (TD), an Extended State Observer (ESO), a controller gain compensator (AC), and a PD controller.
The tracking differentiator is used for acquiring a tracking signal and a differential signal of a system input signal by arranging a transition process so as to solve the contradiction between the response speed and the overshoot. The extended state observer is designed with an extended state quantity to track external unknown disturbances (including d in FIG. 2)1And d2) And a control quantity is given to compensate for these disturbances, thereby achieving feedback linearization of the controlled object. The PD controller is used for giving a control strategy of a controlled object.
The controller gain is an important parameter in the active disturbance rejection control, and has a great influence on the control effect of the whole control system. The total control quantity u input to the controlled object is directly calculated according to the gain of the controller, and the total control quantity u influences the observation result of the extended state observer. However, the control effect of the controller gain is specific to the controlled object of the specific system parameter, and when the system parameter of the controlled object is changed, the control effect obtained by the same controller gain may be reduced, thereby degrading the control quality.
To solve the above problem, as shown in fig. 1 and fig. 2, the adaptive active disturbance rejection control method provided by the present application calculates a controller gain compensation Δ b according to a parameter change amount of a controlled object for a situation where a parameter of the controlled object is continuously changed0Thus, a compensated controller gain b 'which can be adaptively changed according to the change of the controlled object parameter is obtained by compensating the parameter of the controller gain'0And further uses a compensated controller gain b'0And the active disturbance rejection control is carried out, so that the overall control effect is effectively improved. As for other details in the active disturbance rejection control, reference may be made to the prior art, and the present application is not limited thereto.
In fig. 2, TD is the tracking differentiator, ESO is the extended state observer, and AC is the controller gain compensator. Wherein u isPDI.e. the PD control quantity, u is the total control quantity, z3Namely the total disturbance estimated value, b'0Namely the compensated controller gain b'0. FIG. 2 shows a formula according to uPD、z3And b'0The specific method for calculating u is as follows:
u＝(uPD-z3)/b′0；
in addition, other calculation methods may be adopted by those skilled in the art, and the present application is not limited thereto, and for example, the following methods may be adopted:
u＝uPD/b′0-z3。
therefore, in the adaptive active disturbance rejection control method provided by the application, for a controlled object with a changed model parameter, the gain compensation amount Δ b of the controller is obtained by calculating according to the parameter change amount of the controlled object0The controller gain is compensated and the compensated controller gain b 'is used'0The method carries out the active disturbance rejection control on the controlled object, thereby effectively improving the control performance, improving the control effect on the time-varying controlled object and expanding the application range of the self-adaptive active disturbance rejection control method.
The adaptive active disturbance rejection control method provided by the application is based on the above embodiment:
as a preferred embodiment, the tracking differentiator has the expression:
wherein, fhan is the fastest control comprehensive function; v (t) is an input signal; v. of1(k) A tracking signal of v (t); v. of2(k) A differential signal of v (t); t is1To track the integration step of the differentiator; r is1To track the velocity factor of the differentiator; h is1To track the filter factor of the differentiator.
Specifically, a tracking signal v of a system input signal v (t) can be acquired by using a tracking differentiator in the active disturbance rejection control1(k) And a differential signal v2(k) In that respect Wherein, the tracking differentiator adopts fhan function, namely the steepest control comprehensive function to realize transition arrangement, and can achieve the aim of solving the problem between response speed and overshootThe contradictory effect has a more reasonable transition effect. The specific expression of the fhan function is as follows:
while other relevant control parameters of the tracking differentiator, e.g. the integration step T1A filter factor h1A velocity factor r1And the setting can be selected by the person skilled in the art according to the actual application.
As a preferred embodiment, the parameter change amounts of the controlled object include a gain change amount Δ K and a time lag time change amount Δ τ of the controlled object; the expression for the controller gain compensator is:
Δb0＝α(ΔK·τ+Δτ·K+ΔK·Δτ)；
wherein, Δ b0A controller gain compensation amount; alpha is a gain compensation coefficient; Δ K is the gain change of the controlled object; k is the initial value of the gain of the controlled object; Δ τ is the amount of time-lag change; tau is the initial value of the time lag time.
Specifically, for a controlled object with a time lag link and constantly changing time lag time and gain, especially a first-order inertial system with a time lag link, the gain compensation b of the controller can be calculated and obtained according to the gain change Δ K and the time lag time change Δ τ of the controlled object0. The gain change Δ K and the time lag time change Δ τ of the controlled object can be specifically identified by means of system identification and the like.
In the above expression of the controller gain compensator, the gain compensation coefficient α is an important parameter for adjusting the compensation effect. Further, as a preferred embodiment, the gain compensation coefficient may be set to α -60.
Of course, those skilled in the art may calculate the controller gain compensation amount Δ b in other ways than by using the above calculation expression0This application is not limited thereto.
As a preferred embodiment, the expression of the extended state observer is:
wherein y (k) is the output signal in the discrete state; u is the total control quantity; t is2To extend the integration step length of the state observer; z is a radical of1(k) Is a first state estimate; z is a radical of2(k) Is a second state estimate; z is a radical of3(k) The total disturbance estimated value is obtained; beta is a1、β2And beta3All are state observation coefficients; f is the sampling frequency; b'0Is a compensated controller gain, b'0＝b0+Δb0，b0As an initial value of the gain of the controller, Δ b0The controller gain compensation amount.
Specifically, the extended state observer performs state observation using the fal function. The fal function is a power nonlinear function, and the specific expression of the fal function is as follows:
as previously mentioned, this application is with a compensated controller gain b'0Since the active disturbance rejection control is performed, it is the compensated controller gain b 'that is calculated in the extended state observer'0It is specifically the controller gain compensation amount Δ b calculated by the controller gain compensator0Adding an initial value b of the gain of the controller0And then obtaining the product.
Furthermore, the person skilled in the art may also design and use other calculation methods for extending the state observer, for example, a tracking signal of the output signal y (t) may be used as said first state estimate z1(k) Taking the differential signal of the output signal y (t) as said second state estimation value z2(k) This application is not limited thereto.
As a preferred embodiment, the output signal y (t) of the control system and the total control quantity u and the compensated control are combinedMaker gain b'0The input to the extended state observer comprises:
inputting the output signal y (t) to a filter to obtain a filtered output signal y1(t)；
The filtered output signal y1(t) Total control quantity u and compensated controller gain b'0Input to an extended state observer.
In particular, in order to reduce the interference of the measurement noise to the control system, the application may further filter the output signal y (t) of the system, so as to use the filtered output signal y1(t) to participate in feedback control.
As a preferred embodiment, the expression of the Filter (Filter) is:
wherein, fhan is the fastest control comprehensive function; y (t) is the output signal in the time domain; x is the number of1(k) A tracking signal of y (t); x is the number of2(k) A differential signal of y (t); t is3Is the integration step of the filter; r is2Is the speed factor of the filter; h is2Is the filter factor of the filter; y is1(k +1) is the filtered output signal in the discrete state.
In particular, the filter may also be computationally derived by arranging for the tracking signal and the differential signal to be derived during the transition. Similarly, other relevant control parameters of the filter, e.g. integration step T3A filter factor h2A velocity factor r2And the setting can be selected by a person skilled in the art according to the actual application, and the application is not limited to this.
As a preferred embodiment, the filtered output signal y is filtered1(t) Total control quantity u and compensated controller gain b'0The input to the extended state observer comprises:
the filtered output signal y1(t) input to a Time-Delay Compensator (Time-Delay Compensator) to calculate an acquisition Time-Delay offsetCompensated output signal y2(t)；
The time lag compensated output signal y2(t) Total control quantity u and compensated controller gain b'0Input to an extended state observer.
Specifically, due to the time lag characteristic of the controlled object, the output signal y (t) has a certain time difference compared with the input signal v (t) and the total control amount u signal, that is, the response of the controlled object has a certain hysteresis, which affects the timeliness of adjusting the total control amount u, and the control quality of the system is reduced. In order to keep the output signal y (t) input into the extended state observer and the total control quantity u synchronized in time, the adaptive active disturbance rejection control method provided by the application can further perform time lag compensation on the output signal y (t), and the output signal y after the time lag compensation is performed2And (t) inputting the data to an extended state observer for observation so as to effectively weaken the adverse effect of the time-lag link of the controlled object on the control effect.
As a preferred embodiment, the expression of the skew compensator is:
y2(t)＝eτ′y1(t)；
wherein, y1(t) is the filtered output signal in the time domain; y is2(t) is the time-lag compensated output signal in the time domain; τ 'is the changed lag time, τ' ═ τ + Δ τ, τ is the initial value of the lag time, and Δ τ is the amount of change in the lag time.
Specifically, τ is an initial value of the time lag time of the controlled object, Δ τ is a time lag time change amount of the controlled object, and those skilled in the art can recognize and obtain the time lag time τ 'by methods such as system recognition, and then obtain the changed time lag time τ'. Since the output signal y (t) of the controlled object has time lag, the filtered output signal y is obtained1After (t), the time length of τ 'can be adjusted ahead in time domain according to the changed time lag τ', so as to keep synchronization with the total control amount u. Referring to fig. 3, fig. 3 is a control schematic diagram of another adaptive active disturbance rejection control method provided in the present application. Wherein FT is a filter, TDAnd C is a time lag compensator. Of course, the skilled person may also directly perform the skew compensation without filtering the output signal y (t), which is not limited in this application.
Referring to fig. 4 and 5, fig. 4 is a graph of unit step response obtained by applying the adaptive auto-disturbance rejection control method shown in fig. 3 to a controlled object at a first time, and fig. 5 is a graph of total control amount u corresponding to fig. 4. The controlled object is a first-order inertial system with a time-lag link, and the transfer function of the controlled object at the first moment, namely the initial moment, is as follows:
at this time, the gain change Δ K and the time lag time change Δ τ of the controlled object are both 0: Δ τ is 0; Δ K ═ 0. As can be seen from fig. 4, compared with the conventional active disturbance rejection control algorithm, the method has the advantages of fast adjustment speed, good dynamic performance and strong interference suppression capability. As can be seen from fig. 5, the curve of the total control quantity u of the adaptive auto-disturbance-rejection control method provided by the present application is relatively smooth, and no sudden change exists when disturbance is added, so that smooth operation of the actuator in actual engineering application is greatly ensured.
Referring to fig. 6 and 7, fig. 6 is a graph of unit step response obtained by applying the adaptive active disturbance rejection control method shown in fig. 3 to the controlled object at the second time. At the second moment, the model parameter of the controlled object has changed, and at this moment, the gain change Δ K and the time lag time change Δ τ of the controlled object are respectively: Δ τ ═ 2 s; Δ K ═ 0.5.
Fig. 7 is a unit step response graph obtained by applying the adaptive active disturbance rejection control method shown in fig. 3 to a controlled object at a third time. At the third time, the gain change Δ K and the lag time change Δ τ of the controlled object are respectively: Δ τ ═ 2 s; Δ K ═ 0.5.
As can be seen from fig. 6 and 7, the adaptive auto-disturbance rejection control method provided by the present application can adaptively adjust the controller gain along with the change of the model parameter of the controlled object, thereby maintaining a good control effect on the controlled object, implementing fast overshoot-free control, and effectively improving the adverse effect of the time lag link on the control system.
The adaptive active disturbance rejection control apparatus provided in the present application is described below.
The application provides a self-adaptive active disturbance rejection control device; the system comprises a tracking differentiator, a controller gain compensator, an extended state observer and a PD controller;
the tracking differentiator is used for calculating a tracking signal v (t) for acquiring an input signal v (t) according to the input signal v (t) of the control system1(k) And a differential signal v2(k)；
The controller gain compensator is used for calculating and acquiring a controller gain compensation amount delta b according to the gain change amount delta K and the time lag time change amount delta tau of the controlled object0(ii) a So as to control the initial value b of the controller gain of the system0And controller gain compensation amount deltab0As compensated controller gain b'0；
The extended state observer is used for controlling the output signal y (t) of the system, the total control quantity u and the compensated controller gain b'0Calculating to obtain a first state estimation value z1(k) And a second state estimate z2(k) And the total disturbance estimate z3(k)；
The PD controller is used for tracking the signal v1(k) And the first state estimate z1(k) As a tracking error signal e1(k) Will differentiate the signal v2(k) And a second state estimate z2(k) As a differential error signal e2(k) Based on the tracking error signal e1(k) And a differential error signal e2(k) Calculating and acquiring PD control quantity uPD(ii) a So as to control the quantity u according to PDPDAnd the total disturbance estimate z3(k) And compensated controller gain b'0And calculating and acquiring the total control quantity u, and outputting the total control quantity u to the controlled object so as to control the controlled object.
On the basis of the above embodiments, as a preferred embodiment, the adaptive active disturbance rejection control apparatus provided by the present application further includes a filter and a skew compensator;
the filter is used for filtering the output signal y (t) to obtain a filtered output signal y1(t)；
The time lag compensator is used for filtering the output signal y1(t) performing skew compensation to obtain a skew-compensated output signal y2(t); and the time lag compensated output signal y2(t) is input to the extended state observer 3.
The present application further provides an adaptive active disturbance rejection control device, including:
a memory: for storing a computer program;
a processor: for executing a computer program for implementing the steps of any of the adaptive active disturbance rejection control methods as described above.
Therefore, the adaptive active-disturbance-rejection control device and equipment provided by the application can be used for obtaining the gain compensation quantity delta b of the controller by calculating according to the parameter change quantity of the controlled object aiming at the controlled object with the changed model parameter0The controller gain is compensated and the compensated controller gain b 'is used'0The method carries out the active disturbance rejection control on the controlled object, thereby effectively improving the control performance, improving the control effect on the time-varying controlled object and expanding the application range of the self-adaptive active disturbance rejection control method.
The specific embodiments of the adaptive active-disturbance-rejection control apparatus and device provided in the present application and the above-described adaptive active-disturbance-rejection control method may be referred to correspondingly, and are not described herein again.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the equipment disclosed by the embodiment, the description is relatively simple because the equipment corresponds to the method disclosed by the embodiment, and the relevant parts can be referred to the method part for description.
It is further noted that, throughout this document, relational terms such as "first" and "second" are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The technical solutions provided by the present application are described in detail above. The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
Claims (10)
1. An adaptive active disturbance rejection control method is applied to engineering application, and comprises the following steps:
inputting an input signal of a control system into a tracking differentiator to calculate a tracking signal and a differential signal for acquiring the input signal;
inputting the parameter change quantity of the controlled object into the controller gain compensator to calculate and obtain the controller gain compensation quantity; taking the sum of the initial value of the controller gain of the control system and the compensation quantity of the controller gain as the compensated controller gain;
inputting the output signal and the total control quantity of the control system and the compensated controller gain into an extended state observer to calculate and obtain a first state estimation value, a second state estimation value and a total disturbance estimation value;
calculating a difference between the tracking signal and the first state estimate as a tracking error signal; calculating a difference between the differentiated signal and the second state estimate as a differentiated error signal; inputting the tracking error signal and the differential error signal to a PD controller to calculate and obtain a PD control quantity;
calculating the total control quantity according to the PD control quantity, the total disturbance estimation value and the compensated controller gain; and outputting the total control quantity to a controlled object so as to control the controlled object.
2. The adaptive active disturbance rejection control method according to claim 1, wherein the tracking differentiator has an expression:
wherein, fhan is the fastest control comprehensive function; v (t) is the input signal; v. of1(k) A tracking signal of v (t); v. of2(k) A differential signal of v (t); t is1Is the integration step of the tracking differentiator; r is1Is a velocity factor of the tracking differentiator; h is1Is the filter factor of the tracking differentiator.
3. The adaptive active disturbance rejection control method according to claim 1, wherein the parameter change amount of the controlled object comprises a gain change amount and a dead time change amount of the controlled object; the expression of the controller gain compensator is as follows:
Δb0＝α(ΔK·τ+Δτ·K+ΔK·Δτ)；
wherein, Δ b0A gain compensation amount for the controller; alpha is a gain compensation coefficient; Δ K is the gain change amount of the controlled object; k is the initial value of the gain of the controlled object; Δ τ is the amount of time-lapse change; tau is the initial value of the time lag time.
4. The adaptive active disturbance rejection control method according to claim 1, wherein the expression of the extended state observer is:
wherein y (k) is the output signal in a discrete state; u is the total control quantity; t is2Is the integration step length of the extended state observer; z is a radical of1(k) Is the first state estimate; z is a radical of2(k) Is the second state estimate; z is a radical of3(k) Is the total disturbance estimated value; beta is a1、β2And beta3All are state observation coefficients; f is the sampling frequency; b'0Is the compensated controller gain, b'0＝b0+Δb0，b0Is the initial value of the gain of the controller, Δ b0And compensating the gain of the controller.
5. The adaptive active disturbance rejection control method according to any one of claims 1 to 4, wherein the inputting the output signal of the control system and the total control amount and the compensated controller gain to an extended state observer comprises:
inputting the output signal to a filter to obtain a filtered output signal;
and inputting the filtered output signal, the total control quantity and the compensated controller gain to the extended state observer.
6. The adaptive-disturbance-rejection control method according to claim 5, wherein the filter is expressed by:
wherein, fhan is the fastest control comprehensive function; y (t) is in the time domainThe output signal; x is the number of1(k) A tracking signal of y (t); x is the number of2(k) A differential signal of y (t); t is3Is the integration step size of the filter; r is2Is the speed factor of the filter; h is2Is a filter factor of the filter; y is1(k +1) is the filtered output signal in a discrete state.
7. The adaptive-disturbance-rejection control method according to claim 5, wherein the inputting the filtered output signal and the total control quantity and the compensated controller gain to the extended state observer comprises:
inputting the filtered output signal to a time-lag compensator to calculate and obtain a time-lag compensated output signal;
and inputting the output signal after time lag compensation, the total control quantity and the compensated controller gain to the extended state observer.
8. The adaptive active disturbance rejection control method according to claim 7, wherein the skew compensator is expressed by:
y2(t)＝eτ′y1(t)；
wherein, y1(t) is the filtered output signal in the time domain; y is2(t) is the time lag compensated output signal in the time domain; τ' is the changed time lag, τ + Δ τ, τ is the initial value of the time lag, and Δ τ is the time lag change amount.
9. An adaptive active disturbance rejection control device, applied to engineering applications, comprising:
a tracking differentiator: the tracking signal and the differential signal of the input signal are obtained through calculation according to the input signal of a control system;
controller gain compensator: the controller gain compensation quantity is calculated and obtained according to the gain change quantity and the time lag time change quantity of the controlled object; so as to take the sum of the initial value of the controller gain of the control system and the compensation amount of the controller gain as the compensated controller gain;
and (3) expanding the state observer: the controller is used for calculating and acquiring a first state estimation value, a second state estimation value and a total disturbance estimation value according to the output signal and the total control quantity of the control system and the compensated controller gain;
the PD controller: the PD control quantity is calculated and obtained according to the tracking error signal and the differential error signal; and calculating and acquiring the total control quantity according to the PD control quantity, the total disturbance estimation value and the compensated controller gain, and outputting the total control quantity to a controlled object so as to control the controlled object.
10. An adaptive active disturbance rejection control apparatus, comprising:
a memory: for storing a computer program;
a processor: for executing the computer program for implementing the steps of the adaptive active disturbance rejection control method according to any of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810812319.2A CN108828950B (en) | 2018-07-23 | 2018-07-23 | Self-adaptive active disturbance rejection control method, device and equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810812319.2A CN108828950B (en) | 2018-07-23 | 2018-07-23 | Self-adaptive active disturbance rejection control method, device and equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108828950A CN108828950A (en) | 2018-11-16 |
| CN108828950B true CN108828950B (en) | 2020-11-10 |
Family
ID=64140313
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810812319.2A Active CN108828950B (en) | 2018-07-23 | 2018-07-23 | Self-adaptive active disturbance rejection control method, device and equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108828950B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109459926B (en) * | 2018-12-29 | 2022-02-15 | 广东工业大学 | Displacement tracking control method and system for high-order flexible electromechanical moving object |
| CN109999270B (en) * | 2019-03-22 | 2020-09-04 | 北京理工大学 | Artificial pancreas self-adaptation auto-disturbance rejection controller based on blood sugar variation trend |
| CN110146075B (en) * | 2019-06-06 | 2022-06-21 | 哈尔滨工业大学（威海） | SINS/DVL combined positioning method of gain compensation adaptive filtering |
| CN110275554A (en) * | 2019-07-13 | 2019-09-24 | 潍坊学院 | Heat supply temperature intelligent controller based on auto-disturbance rejection technology |
| CN113138612A (en) * | 2020-07-28 | 2021-07-20 | 西安天和防务技术股份有限公司 | Active disturbance rejection control method and device for astronomical navigation and electronic equipment |
| CN112684695A (en) * | 2020-12-08 | 2021-04-20 | 配天机器人技术有限公司 | Control system, method, equipment and storage medium for mechanical arm joint |
| CN117318555B (en) * | 2023-11-29 | 2024-03-22 | 广东工业大学 | Linear motor self-adaptive control method based on disturbance compensation |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1098520A (en) * | 1993-08-06 | 1995-02-08 | 鞍山钢铁公司 | Gain pre-estimated adaptive pure lag compensation controller |
| CN101995822A (en) * | 2010-09-26 | 2011-03-30 | 上海电力学院 | Grey active disturbance rejection control method of long time-delay system |
| CN104267743A (en) * | 2014-07-22 | 2015-01-07 | 浙江工业大学 | Shipborne camera shooting stabilized platform control method with active disturbance rejection control technology adopted |
| CN105577058A (en) * | 2015-12-28 | 2016-05-11 | 江苏大学 | Novel fuzzy active disturbance rejection controller based five-phase fault-tolerant permanent magnet motor speed control method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8041436B2 (en) * | 2002-04-18 | 2011-10-18 | Cleveland State University | Scaling and parameterizing a controller |
-
2018
- 2018-07-23 CN CN201810812319.2A patent/CN108828950B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1098520A (en) * | 1993-08-06 | 1995-02-08 | 鞍山钢铁公司 | Gain pre-estimated adaptive pure lag compensation controller |
| CN101995822A (en) * | 2010-09-26 | 2011-03-30 | 上海电力学院 | Grey active disturbance rejection control method of long time-delay system |
| CN104267743A (en) * | 2014-07-22 | 2015-01-07 | 浙江工业大学 | Shipborne camera shooting stabilized platform control method with active disturbance rejection control technology adopted |
| CN105577058A (en) * | 2015-12-28 | 2016-05-11 | 江苏大学 | Novel fuzzy active disturbance rejection controller based five-phase fault-tolerant permanent magnet motor speed control method |
Non-Patent Citations (3)
| Title |
|---|
| Sliding mode adaptive neural network control for hybrid visual servoing of underwater vehicles;gao jian 等;《Ocean Engineering》;20170725;全文 * |
| 挖掘机动臂的LPV变增益H∞控制器设计;邵辉 等;《控制工程》;20170131;全文 * |
| 自抗扰控制在快刀伺服系统控制中的应用;李捷 等;《机床与液压》;20150430;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108828950A (en) | 2018-11-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108828950B (en) | Self-adaptive active disturbance rejection control method, device and equipment | |
| CN108873704B (en) | Design method of linear active disturbance rejection controller based on predictive tracking differentiator | |
| CN105680750B (en) | PMSM servo system control methods based on improved model compensation ADRC | |
| CN107272421B (en) | Active disturbance rejection control system and method | |
| Kim et al. | Adaptive output regulation for the rejection of a periodic disturbance with an unknown frequency | |
| JPH11513148A (en) | How to incorporate independent feedforward control into a multivariable prediction controller | |
| JP2009245419A (en) | System controller and system control method | |
| CN110784149B (en) | Mechanical resonance suppression method and system for alternating current servo system | |
| CN108983610B (en) | Robust self-adaptive anti-interference control method | |
| Padhan et al. | Modified Smith predictor and controller for time delay processes | |
| JPH01239603A (en) | Process controller | |
| DE60009228T2 (en) | Method and device for arithmetic control | |
| CN107908107A (en) | Disturbance rejection control method of the time lag sampling system based on fallout predictor | |
| CN110955143A (en) | Compound control method for first-order inertia pure lag process | |
| CN110209122B (en) | Control method, device, medium and equipment of multi-axis motion platform | |
| JP3107800B2 (en) | Control system | |
| JP4648448B2 (en) | Closed loop process control device including PID regulator | |
| WO2019087554A1 (en) | Feedback control method and motor control device | |
| CN110554601B (en) | Design method and device of anti-interference PID controller | |
| CN109474257B (en) | Double filtering method, device, equipment and computer readable storage medium | |
| CN111077782B (en) | Continuous system U model disturbance rejection controller design method based on standard | |
| Shafiq et al. | Closed loop direct adaptive inverse control for linear plants | |
| CN116520680B (en) | Anti-interference PID controller setting method | |
| Schwarzmann et al. | A flatness-based approach to internal model control | |
| CN110707967A (en) | Self-adaptive control method of brushless direct current motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |