基于自适应的自抗扰控制技术提高扰动隔离度

Improve isolation degree based on adaptive active disturbance rejection controller

针对扩张状态观测器对二阶及二阶以上系统的扰动观测值存在相位滞后的问题,提出了一种基于扰动频率自适应的自抗扰控制的新方法,并在直线型倒立摆装置中进行了实验验证。实验结果表明:本文方法解决了扩张状态观测器对二阶及二阶以上系统的扰动观测值存在相位滞后的问题;在2 Hz以内随机扰动的作用下,对比传统状态反馈控制器,它将扰动隔离度至少提高了7.85 d B,同时,自抗扰控制器具有很强的鲁棒性,允许被控对象参数在15%的范围内浮动。

In order to further improve the isolation degree of disturbance of traditional controller, a new active disturbance-rejection controller based on frequency adaptation of disturbance is proposed. It is verified in the linear inverted pendulum system. The results show that the controller can avoid phase lag when extended state observer observes the disturbance with the high-order form. It can also at least reduce the disturbance error by 7.85 dB compared with the state feedback controller when the perturbation frequency is between 0 Hz and 2 Hz. The proposed controller has strong robustness, allowing the range of system parameters to change within 15%.