线性扩张状态观测器的改进及观测精度分析

Improvement and observation accuracy analysis of linear extended state observer

为提高线性扩张状态观测器的观测精度,加快其收敛速度,从偏差控制的基本原理出发,提出了一种应用于自抗扰控制系统的改进型线性扩张状态观测器。该改进型线性扩张状态观测器将各状态变量与其观测值之间的偏差作为各状态变量的调节依据。给出了改进后的二阶和三阶线性扩张状态观测器的观测误差系统的稳定性证明,并进行观测精度分析。仿真结果表明,该改进型的二阶和三阶线性扩张状态观测器比传统的同阶次扩张状态观测器的收敛速度更快、观测精度更高。

In order to accelerate convergence rate and promote observation precision of linear ESO(extended state observer),an improved linear ESO used in active disturbance rejection control system was proposed.The improved linear ESO followed error controlling principle and used the errors between the state variables and their observed values as the regulation basis.It is proved that the observation error of this improved second-order and third-order linear ESO is stable,and its steady state error is greatly reduced when compared with the traditional linear ESO.Simulation results show that the second-order and third-order improved linear ESO is faster and more accurate than the traditional same order linear and nonlinear ESO.