摘要
运用2种方法将自抗扰控制器(ADRC)推广到高阶系统中。第1种方法是利用Back-stepping思想,将低阶ADRC串联起来实现对高阶被控对象的控制。另一种方法实现其关键部分:跟踪微分器(TD)、扩展状态观测器(ESO)的高阶设计,结合误差反馈设计组成一个完整的自抗扰控制器。针对具体的高阶对象,在用第一种方法设计的高阶ADRC的作用下,系统带宽2Hz,对扰动的抑制带宽为515Hz;在用第2种方法设计的高阶ADRC的作用下,系统带宽15Hz,对扰动的抑制带宽为45Hz,验证了这2种设计方法的有效性与优越性。
The active disturbance rejection controller （ADRC） is used in most cases to achieve control of the system in a second-order system, two methods are proposed to extend the ADRC into the control of high- order systems. The first method is to use the back-stepping theory, which introduces the low-order ADRC in series to control high-order objects. Another method is to design the tracking differentiator （TD） and ex- tended state observer （ ESO）, which are essential parts of an ADRC for controlling high-order systems, TD and ESO with error feedback design combined to form a complete ADRC. For the specific high-order objects simulated, the simulation results show that, the designed ADRC has good robustness and response perform- ance to high-order systems, which verifies the effectiveness and superiority of the two methods.
出处
《航天控制》
CSCD
北大核心
2018年第1期3-7,13,共6页
Aerospace Control
基金
国家自然科学基金资助项目(40776100)
