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Improved active-disturbance-rejection and PID cascade control method

An active disturbance rejection controller and cascade control technology, applied in the direction of adaptive control, control using feedback, controller with specific characteristics, etc., can solve the problems that the PID cascade control system cannot achieve the effect, and achieve debugging Simple, solve many parameters, eliminate the effect of error spikes

Inactive Publication Date: 2015-09-23
INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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Problems solved by technology

[0004] At present, there are many cascade control methods widely studied, such as PI-PI control, state variable PID cascade control system and other methods, but with the improvement of control quality requirements, the conventional PID cascade control system has not achieved satisfactory results. Effect

Method used

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Embodiment Construction

[0031] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0032] An improved self-disturbance rejection and PID cascade control method of the present invention, its specific implementation steps are as follows:

[0033] Step (1): Build the closed-loop circuit of the speed loop ADRC controller. The used tracking experiment platform of the present invention is as figure 2 As shown, it consists of motor 1, load 2, connecting shaft, speedometer 3, encoder and so on. speed signal Collected by the tachometer, the position signal θ l returned by the encoder.

[0034] Step (2): Design the extended state observer for ADRR: adopt the third-order linear ADRR control structure, and add the total disturbance estimated by the extended state observer into the controller, so as to compensate the nonlinearity of the system Disturbance, improve system accuracy.

[0035] Self-disturbance rejection ESO, the specific form...

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Abstract

The invention relates to an improved active-disturbance-rejection and PID cascade control method. Regarding to the problem of large turning errors in position turning, the improved active-disturbance-rejection and PID cascade control method formed by applying active-disturbance rejection control to a speed loop of a precision servo system is provided, the control law of active-disturbance rejection is improved, and the essence of the improvement is as follows: the traditional control law of active-disturbance rejection is designed into PID. Since the design of a conventional non-linear active-disturbance-rejection controller is complicated, the parameters are large in number and difficult to adjust, the improved active-disturbance-rejection and PID cascade control method greatly reduces the number of parameters to be adjusted by adopting a linear active-disturbance-rejection structure, has the advantages of simple structure and easily adjusted parameters, can reduce position tracking errors, and improves the tracking accuracy of the system.

Description

technical field [0001] The invention belongs to the technical field of high-precision tracking control, and in particular relates to an improved cascade control method of active disturbance rejection and PID. Background technique [0002] High precision and fast response have always been the goals pursued by tracking control systems. In most precision servo control systems, multi-level feedback is commonly used to improve the response accuracy and response time of the system. PID controller is widely used in current, velocity, position and even acceleration loops because of its relatively simple structure, easy-to-understand concept and does not depend on mathematical models. [0003] Uncertain system control is the core problem in control science. Around this problem, a large number of control methods have emerged, from the long-lasting PID control to modern adaptive control, robust control, variable structure control, and disturbance-based observation. The control of the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/02G05B11/42G05D3/12G05D13/62
Inventor 左丹唐涛黄永梅蔡华祥
Owner INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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