线性/非线性自抗扰切换控制方法研究

On Linear/Nonlinear Active Disturbance Rejection Switching Control

非线性自抗扰控制(Nonlinear active disturbance rejection control,NLADRC)较线性自抗扰控制(Linear active disturbance rejection control,LADRC)具有跟踪精度高、抗干扰能力强等优点,但在参数整定、稳定性分析以及控制性能分析等方面有一定的困难,阻碍了非线性自抗扰控制在实际中的应用,而线性自抗扰控制成为工程应用的首选.本文提出一种线性/非线性自抗扰控制切换控制方法,该方法既综合了线性/非线性自抗扰控制的优点,又解决了非线性自抗扰控制在参数整定、稳定性分析等方面的困难:首先,分析线性/非线性自抗扰控制各自优缺点,并给出了一种切换控制策略;其次,提出一种基于优化进行查表或利用拟合公式的参数整定方法;再次,提出基于劳斯判据和鲁棒波波夫判据的稳定性分析方法.通过仿真验证了该切换方法在跟踪精度、抗干扰能力等方面具有一定优势.该切换控制方法将有助于更好地发挥非线性机制在要求实现高精度、高抗扰能力场合的独特优势,有望在工程实际中获得应用.

Nonlinear active disturbance rejection control（NLADRC） is superior to linear active disturbance rejection control（LADRC） in tracking precision, anti-disturbance ability, and so on. However, there are difficulties in parameter tuning, stability analysis, performance analysis, etc, which inhibits its application. Therefore, LADRC is more popular in engineering applications. This paper presents a linear/nonlinear active disturbance rejection switching control method,which has both of the advantages of LADRC and NLADRC, and solves the problems of parameter tuning, stability analysis, etc. Firstly, the characteristics of LADRC and NLADRC are presented, and then a switching strategy is proposed. Secondly, a simple practical parameter tuning method is provided. Thirdly, the stability is analyzed through Routh criterion and Popov criterion. Simulations show that the switching control method is superior to both LADRC and NLADRC in tracking precision and anti-disturbance. The proposed method fully demonstrates the advantages of nonlinear functions in occasions when high tracking precision and strong anti-disturbance ability are needed, and is hopefully to be adopted in practical application.