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Active-disturbance-rejection control device and control method based on same

A technology of active disturbance rejection control and control method, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of large control error, unsatisfactory control performance, and violent fluctuation of the controlled amount of control error, to achieve Satisfied with the effect of the control effect

Active Publication Date: 2019-02-05
SHANGHAI MITSUBISHI ELEVATOR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Satisfactory control effects can often be obtained when the existing conventional ADRC is used to control the controlled object whose initial controlled quantity is zero and / or the controlled object whose initial total disturbance is large, but when controlling the controlled initial quantity When the controlled object is not zero, the control error between the controlled quantity of the controlled object and its target value is often large from the initial moment of control to the subsequent transition stage, and the control performance is not satisfactory. After the process, the control error will gradually decrease and stabilize within an acceptable range, and the control performance can be improved
A large control error often means a sharp fluctuation of the controlled quantity, which is unacceptable and tolerable in some specific occasions

Method used

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  • Active-disturbance-rejection control device and control method based on same
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  • Active-disturbance-rejection control device and control method based on same

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Experimental program
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Effect test

Embodiment 1

[0040] Active disturbance rejection control devices, such as figure 1 shown, which includes:

[0041] Extended State Observer (ESO), which estimates the total disturbance of the controlled object and outputs the estimated value of the total disturbance;

[0042] State error feedback controller (SEF), which generates error control instructions according to the control target value and the output of the controlled object;

[0043] a disturbance compensator, generating a total control instruction according to the total disturbance estimated value of the controlled object and the error control instruction, and controlling the controlled object;

[0044] Initial value acquisition unit: used to acquire the initial value, the initial value includes the initial value of the output of the controlled object determined according to the prior knowledge of the controlled object, the initial value of the k-order differential value of the output of the controlled object or according to One...

Embodiment 2

[0083] Based on the first embodiment, the last state variable of the extended state observer (ESO) is assigned an estimated value of the total disturbance initial value of the controlled object, and the other state variables are set to zero.

[0084] The control method based on the active disturbance rejection control device of the second embodiment includes the following steps:

[0085] H1. Estimate the initial value of the total disturbance of the controlled object;

[0086] H2. Assign the estimated value of the total disturbance initial value of the controlled object to the last state variable of the expanded state observer, and set the rest of the state variables of the expanded state observer to zero;

[0087] H3. Estimate the total disturbance of the controlled object through the extended state observer; generate an error control instruction according to the control target value and the output of the controlled object through a state error feedback controller;

[0088] ...

Embodiment 3

[0094] Based on the first embodiment, in the extended state observer (ESO), the first state variable is assigned as the initial value of the output of the controlled object, and the last state variable is assigned as the estimated initial value of the total disturbance of the controlled object, Its other state variables are set to zero.

[0095] The control method of the active disturbance rejection control device of the third embodiment includes the following steps:

[0096] J1. Determine the initial value of the output of the controlled object; estimate the initial value of the total disturbance of the controlled object;

[0097] J2. Assign the initial value of the output of the controlled object to the first state variable of the extended state observer, assign the estimated value of the initial value of the total disturbance of the controlled object to the last state variable of the extended state observer, and set The remaining state variables of the extended state obser...

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Abstract

The invention discloses an active-disturbance-rejection control device and a control method based on the same. Two stages are included in the process that the active-disturbance-rejection control device is applied to control controlled objects, as for the first stage, the initial value is obtained, the corresponding state variable in an extended state observer is assigned, and the extended state observer, a state error feedback controller and a disturbance compensator are not started to operate; and as for the second stage, the extended state observer, the state error feedback controller and the disturbance compensator are started to operate to control the controlled objects. Even if the active-disturbance-rejection control device is used for controlling the controlled object with the output initial amount being not zero and / or the controlled object with large initial total disturbance, the control errors between the output and target values of the controlled objects can still be keptwithin a small range, and thus the satisfactory control effect is achieved.

Description

technical field [0001] The invention relates to an active disturbance rejection control device, in particular to an active disturbance rejection control device applicable to a controlled object with a non-zero initial value and a control method based on the active disturbance rejection control device. Background technique [0002] Active Disturbance Rejection Control (ADRC) technology is a nonlinear control strategy proposed by researcher Han Jingqing of the Chinese Academy of Sciences in 1998. This technology unifies the unmodeled dynamics of the system and external disturbances as the total disturbance, and then expands the The State Observer (ESO) observes the total disturbance, and then uses the observation results to compensate the total disturbance. Finally, the control law based on the standard model design and the compensation law are synthesized to obtain the final control law. Using this control law, we can get Ideal control effect. [0003] ADRC carries forward t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/048
Inventor 陈玉东
Owner SHANGHAI MITSUBISHI ELEVATOR CO LTD
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