双重积分器的二阶线性自抗扰控制:快速无超调阶跃响应

Second-order linear active disturbance rejection control for the double integrator:fast and nonovershooting step response

双重积分器不易控制,PD和PID控制都难以实现其快速无超调阶跃响应.本文发现单参数二阶线性自抗扰控制能实现双重积分器的快速无超调阶跃响应.同时能任意配置回路传递函数的增益穿越频率,而保持相位裕度恒为31.9°.这是线性自抗扰控制优于PD和PID控制的一个例子.分析和算例还表明,在抗低频外扰和高频内扰方面,二阶线性自抗扰控制优于PD和PID控制.

The double integrator is not easy to control. With PD or PID control, it is difficult to get a fast nonovershooting step response. This paper finds that single parameter second-order linear active disturbance rejection control(LADRC) can obtain fast nonovershooting step responses for the double integrator. Furthermore, it can assign the gain crossover frequency arbitrarily, while the phase margin is always 31.9°. This is an example that LADRC is superior to PD and PID control.Analysis and examples illustrate that second-order LADRC is better than PD and PID control in rejecting low-frequency external disturbance and high-frequency internal disturbance.