一种基于自抗扰技术改进的分数阶控制器

Improved Fractional Order Controller Based on ADRC Technology

在分数阶控制器优化设计问题的研究中,分数阶PIλDμ控制器,扩展了常规PID控制器调节参数,能够取得更好的控制性能,表现出良好的快速性和高精度控制性能。自抗扰控制器特有的扩张观测器,能够将系统内外扰动进行估计补偿,极大地提高控制器的抗干扰能力和鲁棒性。将两种控制器结合,采用自抗扰设计思想,为分数阶PIλDμ控制器设计过渡过程和扩张观测器,设计新的分数阶自抗扰控制器。上述控制器充分结合了分数阶PIλDμ控制器快速响应、高精度控制和自抗扰鲁棒性强,抗干扰能力强的优点。最后,通过几种控制器控制性能对比表明,分数阶自抗扰控制器性能优于两种控制器单独控制性能,达到了控制器结合提高系统性能的目的。

Fractional order PIλDμ controller, by which the adjusting parameters of normal PID controller are ex- tended, was proved having better performance of quickly response and high control accuracy. The active disturbance rejection controller with special extend state observer can be used for estimating and compensating inside and outside disturbance. By using this observer, disturbance rejection ability and robust ability are largely improved. In this arti- cle, fractional order controller and active disturbance rejection controller were combined. Using ADRC as reference, the tracking differentiator and extend state observer for fractional order PIλDμcontroller were designed, and as well as a new fractional active disturbance rejection controller. The advantages of quickly response, high control accuracy and good ADRC robust performance of fractional order PIλDμ controller were combined in the controller. And in the last part, through the performance comparison of four controllers, it was suggested that fractional order active disturbance rejection controller performs better than two controllers independently. Thus, the goal of controller combination is a- chieved.