双入双出延迟系统模型辅助自抗扰控制研究

On model-assisted active disturbance rejection control for two-input two-output systems with time delay

本文针对一类双入双出时延系统进行了模型辅助自抗扰控制设计.通过静态解耦矩阵矩阵可以将双入双出系统解耦,同时两回路间的干扰作为“总扰动”的一部分,可以由模型辅助的扩张状态观测器进行估计补偿.将可以获得的模型信息加入到控制器中,可以减少状态观测器的估计负担和相应的带宽需求,从而提高系统抗干扰以及时延的能力.本文通过对3种典型双入双出系统进行仿真研究,验证了所提方法的有效性.

This paper deals with model-assisted disturbance rejection control for a class of two-input two-output(TITO)systems with time delay.A TITO system can be decoupled through a static decoupling matrix and the interference among the two inputoutput channels can be treated as a part of the“total disturbance”,which is estimated and canceled with the model-assisted extended state observer(ESO).By incorporating model information in control design,the capability to tackle interference and time delay can be improved with decrease in computational burden and and the corresponding bandwidth requirement.The performance of the proposed method is experimentally studied for three common systems,and its efficiency is validated.