A Design and Tuning Method of Active Disturbance Rejection Control System for Time Delay System

Abstract

The invention particularly relates to a design and setting method for an active disturbance rejection control system of a time delay system. According to the method, based on the active disturbance rejection technology, firstly, complex controlled objects are fit into a one-order inertial element plus dead time delay mathematic model, meanwhile, time delay comes down to the disturbance quantity, a time delay reduction linear extended state observer is applied to estimation of unknown total disturbance including the time delay, active compensation for the influences of the total disturbance on the system is achieved, the time delay system is restored into a system in an integrator tandem type in an ADRC standard, and then compensation for the time delay system is achieved; finally, a closed-loop transfer function of the system is deduced, a dead time delay link in a characteristic equation is eliminated, and the numerical relationship between an ADRC single-parameter setting formula with universality and adjustable parameters is correspondingly provided. The simulation result verifies that designed practical ADRC has good stability, rapidity, accuracy and disturbance rejection.

Description

technical field [0001] The invention belongs to the technical field of industrial process control, and in particular relates to a design and setting method of an active disturbance rejection control system of a time-delay system. Background technique [0002] Chemical, oil refining, metallurgy, power station, pharmaceutical and papermaking and other industrial production processes and other practical systems widely exist time-delay phenomena, such as state time-delay, input time-delay, transmission time-delay or output measurement time-delay, volume time-delay, etc. Due to the existence of time lag, the controlled quantity cannot reflect the disturbance suffered by the system in time, resulting in obvious overshoot and long adjustment time, even causing system instability. Therefore, time delay systems (TDS) are recognized as difficult systems to control. [0003] The study of time-delay systems has always been one of the hotspots in the field of control theory. Scholars at...

AI Technical Summary

Problems solved by technology

[0010] Aiming at the deficiencies of the prior art, the present invention intends to solve the problem that the extended state observer estimates the total disturbance with time delay, and the problem that the parameters of the ADRC controller are difficult to adjust, so as to provide a simple, practical and well-tuned ADRC Design and Setting Method

Images