基于改进遗传算法的自抗扰控制器参数优化

Parameter Optimization of Active-Disturbance-Rejection Controller Based on Improved Genetic Algorithm

本文将一种改进的遗传算法应用到自抗扰控制器(ADRC)的参数整定中,以解决ADRC参数不易整定的问题.在ADRC参数优化过程中建立了控制器控制效果目标评价函数,在函数中综合考虑了控制器的动态性能和被控对象的输入受限条件.所设计的ADRC控制器所需的控制能量明显小于其他方法所设计的ARDC所需控制能量.仿真结果表明,本文所提ADRC参数整定方法是有效的.

In order to overcome the difficulties in parameter tuning of the active-disturbance-rejection controller （ADRC）, an improved genetic algorithm is used to tune the ADRC parameters. In the ADRC parameter optimization process, an evaluation function is established to evaluate the control effects, and both the controller＇s dynamic performance and the control input constraint conditions of the controlled objects are taken into account in the evaluation function. Control energy of the ADRC tuned by the proposed method is obviously less than that of the ADRC tuned by other methods. Simulation results show that the presented ADRC parameter tuning method is effective.