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Linear extended state observer-based composite control system and design method thereof

An extended state and compound control technology, applied in the field of control, can solve problems such as the performance of difficult observers

Active Publication Date: 2018-06-26
HIWING TECH ACAD OF CASIC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In addition, the use of nonlinear functions makes it difficult for the system to effectively evaluate the performance of the observer using existing mature analysis and design tools

Method used

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  • Linear extended state observer-based composite control system and design method thereof
  • Linear extended state observer-based composite control system and design method thereof
  • Linear extended state observer-based composite control system and design method thereof

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Embodiment Construction

[0063] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. In the following description, for purposes of explanation and not limitation, specific details are set forth in order to provide a thorough understanding of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details.

[0064] It should be noted here that, in order to avoid obscuring the present invention due to unnecessary details, only the device structure and / or processing steps closely related to the solution according to the present invention are shown in the drawings, and the steps related to the present invention are omitted. Invent other details that don't really matter.

[0065] Embodiments of the present invention will be described below with reference to the drawings.

[0066] A method for designing a composite control...

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Abstract

The invention provides a linear extended state observer-based composite control system and a design method thereof. The method includes the following steps that: the nominal design model of a controlled object is established; closed-loop poles expected to be configured are designed; a feedback measurement channel low-pass filter GLP is designed; a linear extended state observer is designed; a state compensation feedback control law is designed; and a feedforward control law and composite control output are designed. According to the linear extended state observer-based composite control systemand the design method thereof of the invention, each design link does not require complicated parameter setting; the physical meaning of a design process is clear; and a requirement for the robust performance of a closed-loop system and the robust stability of the closed-loop system can be satisfied simultaneously through linear extended state observer-based composite control.

Description

technical field [0001] The invention relates to a compound control system based on a linear extension state observer and a design method thereof, which is suitable for the design of a control system with strong environmental interference and object characteristic uncertainty, and belongs to the field of control technology. Background technique [0002] Due to the complex uncertainty of the external environment (external disturbance) and the non-linear characteristics (internal disturbance) of the controlled object in the entire working area, it is necessary to stabilize the control command through effective feedback adjustment during the design process of the control system tracking, and make the system robust against disturbances. For a deterministic system with known controlled characteristics, the response speed of the system can be improved without losing stability by introducing a feedforward loop. [0003] Linear Extended State Observer (LESO) is a new type of state o...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 侯营东黄屹王文娟孙晓旭孟祥瑞谢勇巩轶男
Owner HIWING TECH ACAD OF CASIC
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