引用本文:葛立明,李宗刚,王世伟,等.基于调节/观测时间的自抗扰控制器参数整定[J].控制与决策,2017,32(7):1333-1337
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基于调节/观测时间的自抗扰控制器参数整定
葛立明,李宗刚,王世伟,杜亚江
(兰州交通大学机电工程学院,兰州730070)
摘要:
受带宽自抗扰控制器(ADRC)参数整定方法启发,给出一种基于系统调节时间/观测时间的ADRC参数整定方法.利用调节时间与控制器带宽之间的关系,给出基于调节时间整定非线性控制器参数$k_p$及$k_d$的方法;同时,利用所定义的观测时间概念,给出一种扩张状态观测器(ESO)参数整定策略.这两种ADRC参数整定方法简化了基于带宽方法的参数整定过程,拓展了其应用范围.仿真结果表明了所提出方法的有效性.
关键词:  自抗扰控制器  参数整定  控制器/观测器带宽  调节时间  观测时间
DOI:10.13195/j.kzyjc.2016.0581
分类号:TP273
基金项目:国家自然科学基金项目(61064008, 61663020);教育部重点科研基金项目(211185);甘肃省自然科学基金项目(1208RJZA166).
Parameter-tuning of active disturbance rejection control based on settling/observing time
GE Li-ming,LI Zong-gang,WANG Shi-wei,DU Ya-jiang
(School of Mechatronic Engineering,Lanzhou Jiaotong University,Lanzhou730070,China)
Abstract:
Inspired by the bandwidth-based active-disturbance-rejection-controller(ADRC) tuning method, a novel ADRC parameter tuning-method based on settling/observing time is proposed. A method for tuning parameters $k_p$ and $k_d$ of nonlinear controller is given based on settling time by establishing the relations between settling time and controller bandwidth. Then a parameter tuning scheme is presented for extended state observer(ESO) by introducing the conception of observing time. The proposed parameter tuning methods for ADRC not only simplify the process of the bandwidth-based method, but also extend its application. The results of simulation show the effectiveness of the proposed method.
Key words:  active-disturbance-rejection-controller  parameter tuning  controller/observer bandwidth  settling time  observing time

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