CN109507872A - A kind of novel automatic disturbance rejection controller of model insertion formula - Google Patents
A kind of novel automatic disturbance rejection controller of model insertion formula Download PDFInfo
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Abstract
The invention discloses a kind of novel automatic disturbance rejection controllers of model insertion formula, including the extended state observer module of inner ring is arranged in and the proportion differential feedback module of outer ring is arranged in；It is embedded in model information in extended state observer module, the system for observing except nominal model always disturbs, and then by always disturbing and known dynamic in the inner ring real-time compensation part, transform controlled device as series connection integrator standard type；Proportion differential feedback module is based on series connection integrator standard type, and according to outer ring controller differential parameter kdWith the quantitative relationship of second-order system damping coefficientζ, output control amount is adjusted by parameter tuning, realizes the control to controlled device；The system is the system of controlled device.The present invention can reduce extended state observer burden, achievees the purpose that estimate disturbance and setting value tracking is more accurate and reduces noise to output control amount influence, and be convenient for the adjusting and adjusting of parameter in practical control process.
Description
Technical field
The present invention relates to automation fields, more particularly to a kind of novel automatic disturbance rejection controller of model insertion formula.
Background technique
Active Disturbance Rejection Control (ADRC) is a kind of new control technology proposed by Mr. Han Jingqing, it absorbs PID control
The thought marrow of " eliminating error based on error ", all uncertain factors effect that will act on controlled device are all attributed to
" unknown disturbance ", and extended state observer Extended State Observer (ESO) is designed, it is defeated according to the input-of object
Data come observing and nursing unknown portions and the comprehensive influence to control object of external unknown disturbance out, then provide control- action compensation
These disturbances, greatly reduce the influence disturbed to controlled volume.
However, this is to estimating because not having that the mathematical model of controlled device is added in terms of carrying out estimation appropriate to system
The adjusting of parameter proposes comparable difficulty in the accuracy of meter and subsequent control action.A large amount of controls emulate and practice table
It is bright, the control effect of the automatic disturbance rejection controller of model-free insertion, though the control effect of slightly better than conventional PID control device, without mould
The automatic disturbance rejection controller of type insertion, in terms of setting value tracking, the fluctuation of output control amount and disturbance estimation, from desired from anti-
Disturbing controller control effect, there are also a certain distance.
Summary of the invention
Goal of the invention: the object of the present invention is to provide a kind of novel automatic disturbance rejection controllers of model insertion formula, can reduce
Extended state observer burden reaches more accurate to disturbance estimation and setting value tracking and reduces noise to output control amount shadow
Loud purpose, and convenient for the adjusting and adjusting of parameter in practical control process.
Technical solution: to reach this purpose, the invention adopts the following technical scheme:
The novel automatic disturbance rejection controller of model insertion formula of the present invention, the expansion state including inner ring is arranged in are observed
Device module and the proportion differential feedback module that outer ring is set；It is embedded in model information in extended state observer module, is used for
System except observation nominal model always disturbs, and then by always disturbing and known dynamic, general in the inner ring real-time compensation part
Controlled device transform series connection integrator standard type as；Proportion differential feedback module is based on series connection integrator standard type, and according to outer
Ring controller differential parameter kdWith the quantitative relationship of second-order system damping coefficientζ, output control amount is adjusted by parameter tuning, it is real
Now to the control of controlled device；The system is the system of controlled device.
Further, the parameter tuning of the extended state observer module are as follows: β1=3 ωo-a2、
Wherein, β1For first increasing of extended state observer module
Benefit, β2For second gain of extended state observer module, β3For the third gain of extended state observer module, a1With
a2It is object parameters, ωoFor extended state observer module bandwidth.
Further, the parameter tuning of proportion differential feedback module are as follows: outer ring controller scale parameterOuter loop control
Device differential parameter kd=2 ωc,ωcFor outer ring controller bandwidth.
Further, described according to outer ring controller differential parameter kdInhibit with the quantitative relationship of second-order system damping coefficientζ
The process of controlled device response overshoot are as follows: by outer ring controller differential parameter kdIt tunes up, then second-order system damping coefficientζ is also corresponding
Become larger, so that controlled device be inhibited to respond overshoot.
Further, the outer ring controller differential parameter kdWith the quantitative relationship of second-order system damping coefficientζ are as follows:
ωnFor natural frequency.
Further, it is also filtered after the adjusting output control amount by parameter tuning.
The utility model has the advantages that the invention discloses a kind of novel automatic disturbance rejection controllers of model insertion formula, compared with prior art,
With following the utility model has the advantages that
1) compared with conventional PI control device and traditional automatic disturbance rejection controller, model information is embedded in active disturbance rejection control by the present invention
In device design processed, so that novel automatic disturbance rejection controller has more preferably control effect, i.e., better setting value tracking effect；
2) compared with conventional expansion state observer module, the present invention is by model information embedded expanding state observer module
In, so that extended state observer module is more accurate to the estimation of disturbance, i.e., estimated total disturbance, which is fluctuated, reduces, thus one
Determine to reduce controller output control amount fluctuation in degree, and then protects executing agency；
3) it present invention introduces after low-pass filter amendment Active Disturbance Rejection Control output, realizes and is guaranteeing good control effect
Output control amount fluctuation is reduced simultaneously, to protect executing agency, extends executing agency's service life.
Detailed description of the invention
Fig. 1 is more appearance water tank experiment porch structure charts in the specific embodiment of the invention；
Fig. 2 is ssystem transfer function Model Distinguish result and empirical curve fitting effect in the specific embodiment of the invention
Figure；
Fig. 3 is traditional automatic disturbance rejection controller, novel automatic disturbance rejection controller and PI controller in the specific embodiment of the invention
The comparing result figure of emulation experiment；
Fig. 4 is traditional automatic disturbance rejection controller setting value tracing control experimental result picture in the specific embodiment of the invention；
Fig. 4 (a) is system response and setting value in traditional Active Disturbance Rejection Control experiment；
Fig. 4 (b) is that system exports control amount in traditional Active Disturbance Rejection Control experiment；
Fig. 5 is novel automatic disturbance rejection controller setting value tracing control experimental result picture in the specific embodiment of the invention；
Fig. 5 (a) is system response and setting value in the experiment of novel Active Disturbance Rejection Control；
Fig. 5 (b) is that system exports control amount in the experiment of novel Active Disturbance Rejection Control；
Fig. 6 is automatic disturbance rejection controller traditional in the specific embodiment of the invention, novel automatic disturbance rejection controller by same noise
The emulation experiment comparison diagram of influence degree；
Fig. 6 (a) is that system exports control amount in traditional Active Disturbance Rejection Control emulation experiment；
Fig. 6 (b) is that system exports control amount in novel Active Disturbance Rejection Control emulation experiment；
Fig. 7 is to add low-pass filter in the specific embodiment of the invention and track after adjusting outer ring controller differential parameter
Control experimental result picture；
Fig. 7 (a) is system response and setting value in filtering experiments；
Fig. 7 (b) is that system exports control amount in filtering experiments；
Fig. 8 mentions the system block diagram of novel automatic disturbance rejection controller transmission function form for the present invention.
Specific embodiment
Technical solution of the present invention is further introduced With reference to embodiment.
Present embodiment discloses a kind of novel automatic disturbance rejection controller of model insertion formula, including inner ring is arranged in
Extended state observer module and the proportion differential feedback module that outer ring is set；Extended state observer module is relative to existing
There is technological improvement, proportion differential feedback module is also known as outer loop control using the prior art, proportion differential feedback module
Device.Model information is embedded in extended state observer module, extended state observer module is for observing except nominal model
System always disturb, and then by always disturbing and known dynamic in the inner ring real-time compensation part, transform controlled device as string
Join integrator standard type；Proportion differential feedback module is based on series connection integrator standard type, and according to outer ring controller differential parameter
kdWith the quantitative relationship of second-order system damping coefficientζ, output control amount is adjusted by parameter tuning, realizes the control to controlled device
System.
Set controlled device transmission function as
Model information is substituted into extended state observer module, then the extended state observer module of model insertion formula is
In formula (2), z is every estimator of system.
Obtain the characteristic equation of extended state observer module are as follows: s3+(a2+β1)s2+(a2β1+β2+a1)s+β3=0, wherein
β1For first gain of extended state observer module, β2For second gain of extended state observer module, β3For expansion
The third gain of state observer module, a1And a2It is object parameters.The parameter tuning of extended state observer are as follows:
β1=3 ωo-a2、Wherein, ωoFor observer bandwidth.
Compensation system obtains the state space format of novel automatic disturbance rejection controller after always disturbing disturbance:
In formula (3), r is setting value, u2Control amount, x are exported for outer ring controller1、x2For system state amount.
The characteristic equation of novel automatic disturbance rejection controller are as follows:
s2+kds+kp=0 (4)
The parameter tuning of outer ring controller are as follows: outer ring controller scale parameterOuter ring controller differential parameter kd=
2ωc,ωcFor outer ring controller bandwidth.Outer ring controller differential parameter kdWith the quantitative relationship of second-order system damping coefficientζ are as follows:ωnFor natural frequency.
According to outer ring controller differential parameter kdInhibit controlled device response with the quantitative relationship of second-order system damping coefficientζ
The process of overshoot are as follows: by outer ring controller differential parameter kdIt tunes up, then second-order system damping coefficientζ also accordingly becomes larger, to press down
Controlled device processed responds overshoot.
The system block diagram of the novel automatic disturbance rejection controller transmission function form of incorporation model information is as shown in Figure 8.
It is also filtered after adjusting output control amount by parameter tuning.
As shown in Figure 1, by the more appearance water tank experiment porch built in the specific embodiment of the invention.Platform is by three water
Case, several valves, level pressure sensor, water pump, reservoir, control cabinet composition.Each water tank is designed with water outlet and one
The pressure sensor of liquid level is detected, is equipped with communicating pipe between the upper water tank bottom of two of them.Water pump is used to feed-tank and is supplied
Water, the water outlet of final stage water tank flow directly into reservoir, and by adjusting, water storage box provides for water tank and uses water.Control cabinet contains communication and sets
Standby and frequency converter, for reading pressure sensor signal and exporting control signal to frequency converter, frequency converter passes through communication apparatus again
The water yield of the frequency shift water pump of water pump is adjusted, to realize the control to cistern water supply amount.
After experiment porch is built, each valve on-off and aperture need to be adjusted.Adjusting principle is that each water tank is connected
It connects, makes full use of the storage capacity of water tank, whole system is made to become a Great inertia system, to construct verifying originally
High order system needed for inventing mentioned right content.
As shown in Fig. 2, for the fitting effect of identification gained transmission function and experimental data in the specific embodiment of the invention
Figure.Wherein, in order to obtain the transfer function model from pump variable frequency device control signal (mV) to final stage high water tank (mm), consider
Carry out the experiment of water pump step.In pump rotary speed and final stage high water tank steady-state range, step is made to pump rotary speed, then to rank
Jump result makees Model Distinguish, obtains the transmission function mould from pump variable frequency device control signal (mV) to final stage high water tank (mm)
Type:
As shown in figure 3, for two kinds of automatic disturbance rejection controllers and PID controller emulation experiment pair in the specific embodiment of the invention
Than figure.For the tracing control simulated effect comparison of more intuitive two kinds of automatic disturbance rejection controllers of observation, now unify observer band
Width adjusting is ωo=0.03；The adjusting of controller bandwidth is ωc=0.0035.Due to recognize transfer function model be second order without when
Stagnant model, therefore select industrial common SIMC-PI controller, adjust PI controller parameter is kp=0.070715, Ti=
0.00008719。
Novel automatic disturbance rejection controller disclosed in present embodiment is demonstrated by the simulation results have more preferably control
Effect processed, i.e., better setting value tracking effect.
As shown in figure 4, for automatic disturbance rejection controller setting value tracing control experiment knot traditional in the specific embodiment of the invention
Fruit figure.Wherein, extended state observer bandwidth omegao=0.03；Tracking error proportional coefficient kp=0.06914；It is bent according to experiment
Tracking error differential term coefficient is set as segmentation value: first segment step k by line overshoot situationd=25；First segment step kd=
30。
It being shown in Fig. 4 (a), there are certain overshoot in setting value tracking test, but with kdIncrease overshoot have
Reduced；There is very big fluctuation in display in Fig. 4 (b), output control amount.
As shown in figure 5, for automatic disturbance rejection controller setting value tracing control experiment knot novel in the specific embodiment of the invention
Fruit figure.Wherein, extended state observer bandwidth omegao=0.03；Tracking error proportional coefficient kp=0.06914；It is bent according to experiment
Tracking error differential term coefficient is set as segmentation value: first segment step k by line overshoot situationd=25；First segment step kd=
30。
Display in Fig. 5 (a), although there are certain overshoot in setting value tracking test, compared to Fig. 4 (a) overshoot
It is obviously reduced, and with kdIncrease overshoot further decrease；Display in Fig. 4 (b), although output control amount fluctuation is still deposited
, but be obviously reduced compared to Fig. 4 (b) fluctuation.
By comparison diagram 4 and Fig. 5 actual experiment as a result, further demonstrating the more traditional active disturbance rejection of novel automatic disturbance rejection controller
Controller has more preferably control effect, and then demonstrates the correctness and validity of the proposed right content of the present invention.
As shown in fig. 6, being automatic disturbance rejection controller traditional in the specific embodiment of the invention, novel automatic disturbance rejection controller by phase
With the emulation experiment comparison diagram of influence of noise degree.Emulation experiment introduces identical white noise in output end twice, to inquire into
Compared to traditional automatic disturbance rejection controller, whether novel automatic disturbance rejection controller can reduce influence of the noise to output control amount, i.e.,
Reduce the fluctuation of output control amount.Fig. 6 (a) is obtained, system exports control amount, Yi Jitu in traditional Active Disturbance Rejection Control emulation experiment
6 (b), system exports control amount in novel Active Disturbance Rejection Control emulation experiment.
Two groups of experiment control amount fluctuation situations can be seen that under identical influence of noise in comparison diagram 6, compared to tradition
Automatic disturbance rejection controller, novel automatic disturbance rejection controller output control amount fluctuation is obviously smaller, further calculates two kinds of Active Disturbance Rejection Controls
Device output control amount can be obtained compared to the average value of the fluctuating range of noise-free case: traditional automatic disturbance rejection controller control amount fluctuation
Amplitude average value are as follows: 0.112477；And novel automatic disturbance rejection controller control amount fluctuating range average value are as follows: 0.055759.This says
Bright novel automatic disturbance rejection controller can reduce influence of the noise to output control amount, that is, reduce the fluctuation of output control amount.
As shown in fig. 7, for additional filter in the specific embodiment of the invention and parameter regulation experiment.Wherein, above-mentioned
The additional low-pass filter of control amount, filter transfer function are exported to novel automatic disturbance rejection controller on the basis of experiment are as follows:And tracking error differential term coefficient is set as by segmentation value, value difference according to empirical curve overshoot situation
For kd=25, kd=30, kd=39.
Display in Fig. 7 (a), with kdIncrease can constantly reduce overshoot；Display in Fig. 7 (b), increases low-pass filter
The fluctuation of output control amount reduces afterwards, and can be realized reduces output control amount fluctuation on the basis of guaranteeing control effect, and the two is mutual
Benefit not only ensure that good control effect but also protect executing agency, demonstrate the mentioned right content of the present invention.
Claims (6)
1. a kind of novel automatic disturbance rejection controller of model insertion formula, it is characterised in that: the expansion state including inner ring is arranged in is seen
It surveys device module and the proportion differential feedback module of outer ring is set；It is embedded in model information in extended state observer module, uses
It is always disturbed in the system observed except nominal model, and then by always being disturbed and known dynamic in the inner ring real-time compensation part,
It transform controlled device as series connection integrator standard type；Proportion differential feedback module be based on series connection integrator standard type, and according to
Outer ring controller differential parameter kdWith the quantitative relationship of second-order system damping coefficientζ, output control amount is adjusted by parameter tuning,
Realize the control to controlled device；The system is the system of controlled device.
2. the novel automatic disturbance rejection controller of model insertion formula according to claim 1, it is characterised in that: the expansion state
The parameter tuning of observer module are as follows: β1=3 ωo-a2、 Wherein, β1For
First gain of extended state observer module, β2For second gain of extended state observer module, β3For expansion state
The third gain of observer module, a1And a2It is object parameters, ωoFor extended state observer module bandwidth.
3. the novel automatic disturbance rejection controller of model insertion formula according to claim 1, it is characterised in that: proportion differential feedback
The parameter tuning of module are as follows: outer ring controller scale parameterOuter ring controller differential parameter kd=2 ωc,ωcFor outer ring
Controller bandwidth.
4. the novel automatic disturbance rejection controller of model insertion formula according to claim 1, it is characterised in that: described according to outer ring
Controller differential parameter kdInhibit the process of controlled device response overshoot with the quantitative relationship of second-order system damping coefficientζ are as follows: will
Outer ring controller differential parameter kdIt tunes up, then second-order system damping coefficientζ also accordingly becomes larger, to inhibit controlled device response super
It adjusts.
5. the novel automatic disturbance rejection controller of model insertion formula according to claim 1, it is characterised in that: the outer loop control
Device differential parameter kdWith the quantitative relationship of second-order system damping coefficientζ are as follows:ωnFor natural frequency.
6. the novel automatic disturbance rejection controller of model insertion formula according to claim 1, it is characterised in that: described to pass through parameter
Adjusting is also filtered after adjusting output control amount.
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| CN110209055A (en) * | 2019-06-12 | 2019-09-06 | 洛阳师范学院 | Second-order system controller and control method based on reference model and disturbance observation |
| CN110460035A (en) * | 2019-08-30 | 2019-11-15 | 北方工业大学 | DC-DC converter dynamic compensation method and system based on robust disturbance observer |
| CN111416524A (en) * | 2020-04-27 | 2020-07-14 | 山东大学 | High-disturbance-rejection fast-response control system and method for resonant DC-DC converter |
| CN112578670A (en) * | 2020-12-01 | 2021-03-30 | 东南大学 | Parameter setting method of active disturbance rejection time-lag controller in thermal process and controller |
| CN113669163A (en) * | 2021-08-13 | 2021-11-19 | 哈尔滨工程大学 | Cascade gas turbine rotating speed control method based on active disturbance rejection control |
| CN113700563A (en) * | 2021-08-13 | 2021-11-26 | 哈尔滨工程大学 | Cascade gas turbine power control method based on active disturbance rejection control |
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| CN113669163A (en) * | 2021-08-13 | 2021-11-19 | 哈尔滨工程大学 | Cascade gas turbine rotating speed control method based on active disturbance rejection control |
| CN113700563A (en) * | 2021-08-13 | 2021-11-26 | 哈尔滨工程大学 | Cascade gas turbine power control method based on active disturbance rejection control |
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