自抗扰控制器参数整定方法的研究

A Study on Parameters Setting Methods for Active Disturbance Rejection Controller(ADRC)

提出了自抗扰控制器算法参数整定的计算机软件仿真分析和基于参数变换的公式推导两种方法.根据自抗扰控制方程,针对算法中多个参数需要整定的问题,结合工程中控制对象实例,采用Matlab仿真软件逐一确定各参数,寻找同类对象之间的控制参数关系,利用公式得到其他对象的控制器参数.使用Matlab仿真分析法可直观地获取参数,公式推导法则简化了同类对象的参数整定,速度快.仿真实验结果表明,这两种参数整定方法可用于常见的工业控制对象的自抗扰控制器中.

Two methods for the parameter setting of active-disturbance-rejection controller （ADRC） algorithm are proposed. According to the ADRC equation, it needs to set up a number of parameters. Taking the control-object in the project as example, the parameters are determined individually using Matlab simulation. After getting the relationship of control parameters between similar objects, the control parameters of other objects are achieved from derivation. Parameters can be obtained intuitively using Matlab simulation analysis. Parameters setting of similar objects is simplified and quickened using formula derivation. Simulation results showed that the two methods used in ADRC of common control-object in industry can attain fine control effect.