高阶不确定系统的线性串级自抗扰控制

Linear cascade disturbance rejection control for higher order system with uncertainties

自抗扰控制是我国著名学者韩京清原创的先进控制技术,本文针对自抗扰控制(ADRC)在高阶系统应用中控制器设计和参数整定问题,提出了串级自抗扰控制(CADRC).CADRC把高阶被控对象分解为含确定性部分和含总扰动的低阶部分的串联组合,采用由内环和外环组成的串级控制系统来完成控制.该CADRC方案的内环采用内模控制,外环采用经典ADRC.外环ADRC的被控对象是一个等效的低阶系统,可以采用带宽法进行整定,而内环的内模控制采用高阶低通滤波器进行回路成形设计和参数整定.仿真研究表明,所提出的方法是有效的,具有良好的工程应用前景.

Active disturbance rejection control(ADRC)is an advanced control technology,which is created by Chinese distinguished scholar,Jingqing Han.This paper presents a cascade ADRC(CADRC),one method aiming to simplify the parameter tuning when an ADRC is used in high-order controlled system.The CADRC divides the controlled system into two cascaded parts including a certain part and a low-order part with uncertainties.The certain part is in the inner loop of the cascade control system and the low-order part with uncertainties is in the outer loop.An internal model controller is used in the inner loop and the ADRC is used to control the outer loop with uncertainties.The controlled system in the outer loop by ADRC is an equivalent low-order system which can be tuned by the bandwidth method,and the internal model control(IMC)in the inner loop can be designed and tuned by the loop-shaping method.The simulation shows that the presented method is effective and has good engineering application prospect.