二阶系统线性自抗扰控制器频带特性与参数配置研究

Research on frequency-band characteristics and parameters configuration of linear active disturbance rejection control for second-order systems

本文从频域分析方法入手,基于线性自抗扰控制器的闭环传递函数和频带特性曲线,系统地分析了扩张状态观测器的跟踪估计能力和自抗扰控制器的稳定性、对外部扰动的抑制能力、对控制输入增益不确定性和模型参数不确定性的鲁棒性及其噪声传递特性,探讨了系统动态特性与控制参数的关系;在此基础上提出了控制参数的工程配置方法,最后将其应用于某高精度武器控制系统,验证该方法的有效性.此外,本文还分析了自抗扰控制器工程应用中的超调现象、控制量深度饱和以及前置滤波器设计等问题,为工程设计提供理论依据和实践参考.

Starting with frequency domain analysis,the tracking ability of linear extended state observer （LESO） and the characteristics of linear active disturbance rejection control （LADRC）,such as the stability,rejection quality for external disturbance,robustness for control input gain uncertainty and model uncertainty,as well as noise sensitivity characteristics,are analyzed based on the close-loop transfer function and frequency response.Then,the relationship between the dynamic characteristics and the controller parameters is discussed and the method of parameter selection is proposed.Finally,the method is applied to a weapon control system,and its effectiveness is validated.In addition,issues such as overshoot phenomenon,actuator saturation and the design of pre-filter are addressed,establishing both the conceptual and practical foundation for engineering design.