基于N4SID子空间辨识的线性自抗扰控制器

Linear Active Disturbance Rejection Controller Based on N4SID Subspace Identification

为了改善扩张状态观测器(ESO)的估计效果及解决自抗扰控制中b_0参数的整定问题,提出了一种基于N4SID(numerical algorithms for subspace state space system identification)的线性自抗扰控制策略.使用N4SID子空间辨识方法对系统模型的未知参数及线性自抗扰控制(LADRC)中的b_0参数进行辨识,减少被控系统的不确定因素,从而提高了扩张状态观测器对系统广义扰动的估计能力.仿真结果表明,该方法有效地改善了LADRC的控制效果,提高了扩张状态观测器的估计能力.

To improve the estimation result of the extended state observer( ESO) and to solve the problem of parameter tuning of in the active disturbance rejection control,we propose a linear active disturbance rejection control strategy based on the N_4 SID numerical algorithms for subspace state space system identification( N_4SID). We use the N_4 SID subspace identification method to determine the unknown parameters of the system model and the parameter of the linear active disturbance rejection control( LADRC) to reduce the uncertain factors of the controlled system and to improve the ability of the extended state observer to estimate the generalized disturbance of the system. Simulation results show that the proposed method effectively improves the control effect of LADRC and the estimation ability of the extended state observer.