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Active disturbance rejection control method based on fractional order extended state observer and controller

A technology of active disturbance rejection controller and extended state observation, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as the influence of active disturbance rejection control effect, and achieve excellent control effect and good noise resistance The effect of interference and good robustness

Active Publication Date: 2019-04-23
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology

However, when the control output contains noise pollution, it has a great influence on the effect of ADRC control

Method used

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  • Active disturbance rejection control method based on fractional order extended state observer and controller
  • Active disturbance rejection control method based on fractional order extended state observer and controller
  • Active disturbance rejection control method based on fractional order extended state observer and controller

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Embodiment Construction

[0043] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0044] like figure 2 As shown, the controller of this embodiment includes a proportional controller and a fractional order extended state observer, and the proportional controller is used to compare the input reference signal r with the system output signal y to obtain the system error e 1 , and the error e 1 As a proportional controller input signal to obtain the system control rate u 0 ;Th...

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Abstract

The invention belongs to the technical field of controllers and particularly discloses an active disturbance rejection control method based on a fractional order extended state observer. The method comprises the following steps: S1, comparing an input reference signal with a system output signal to obtain a system error; S2, taking the system error as an input signal of a proportional controller to obtain a system control rate; S3, taking a controlled object as a purely fractional integral transfer function as shown in the description, taking a part except the transfer function as shown in thedescription in the controlled target as disturbance, and observing the disturbance through the fractional order extended state observer to obtain an observation value of the disturbance; and S4, estimating the disturbance to obtain gain estimation of the controlled object, carrying out real-time compensation on the disturbance according to the control rate and the observation value of the disturbance to obtain the stable controlled object. The fractional order active disturbance rejection control method has better robustness on a control parameter, also has good robustness on system gain change, and has better capability of resisting noise interference.

Description

technical field [0001] The invention belongs to the technical field of controller design, and more specifically relates to an active disturbance rejection control method and a controller based on a fractional-order extended state observer. Background technique [0002] Many physical objects in reality have great uncertainty due to internal and external interference. The development of robust and adaptive control addresses many of these issues. However, the above-mentioned control method may make the designed controller more conservative, so Han Jingqing and others proposed ADRC technology. [0003] Active Disturbance Rejection Controller (ADRC) is an automatic control method applied in industrial processes. Its main advantage is that it can automatically track the total disturbance in the system and automatically compensate the control output. The precise mathematical model of the controlled object There is no strong dependence, and it has good anti-interference ability an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 罗映陈鹏冲
Owner HUAZHONG UNIV OF SCI & TECH
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