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Soft driver control method based on improved active disturbance rejection control

A software driver, active disturbance rejection control technology, applied in the direction of program control, computer control, general control system, etc., can solve the problems of increasing the adjustable parameters of the system, difficulty in parameter adjustment, and increasing the difficulty of theoretical analysis of the system.

Pending Publication Date: 2022-06-03
ZHENGZHOU UNIV
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Problems solved by technology

In order to further improve the control performance of the active disturbance rejection controller, in related technologies, the system disturbance is first estimated by one or more extended state observers ESO, and the estimated value is used as a compensation item to be compensated in the ADRC. In order to reduce the estimation burden of ESO in ADRC and improve the anti-interference ability of the system, but the problem of related technologies is that increasing the number of ESO will lead to the increase of system adjustable parameters, which makes parameter adjustment more difficult, and at the same time Increase the difficulty of system theory analysis

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  • Soft driver control method based on improved active disturbance rejection control
  • Soft driver control method based on improved active disturbance rejection control
  • Soft driver control method based on improved active disturbance rejection control

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[0034] In the following description, for the purpose of illustration rather than limitation, specific details such as a specific system structure and technology are set forth in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0035] It is to be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described feature, integer, step, operation, element and / or component, but does not exclude one or more other The presence or addition of features, integers, steps, operations, elements, components and / or sets thereof.

[0...

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Abstract

The invention relates to the technical field of automatic control, in particular to a software driver control method based on improved active disturbance rejection control, which comprises the following steps of: determining a total disturbance term according to a control input gain estimated value and a dynamic model of a software driver, decomposing the total disturbance term into a known disturbance information part and an unknown disturbance information part, compensating a system control law according to a control input gain estimated value, time delay time and a known disturbance information part to obtain an input quantity of an extended state observer ESO, and controlling an output quantity of the ESO through a PD to output a state feedback control law; according to the state feedback control law, the known disturbance information part, the output quantity of the ESO and the control input gain estimated value, a system control law is obtained, one input end of the ESO is compensated according to the known disturbance information part and the time delay time, the estimation burden of the ESO can be relieved under the condition that system adjustable parameters are not increased, and the estimation efficiency of the ESO is improved. And the anti-interference performance, the tracking performance and the robustness of the system are improved.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a software driver control method based on improved active disturbance rejection control. Background technique [0002] Because of its inherent flexibility, flexibility, and safety, soft drives can better adapt to unstructured environments and more reliably grasp various irregular-shaped objects, so they have attracted more and more attention from scholars. [0003] However, due to the high nonlinearity, strong coupling, time-varying and strong elastic effects of the software driver itself, it is very difficult to establish an accurate model of the software driver, which leads to the need to consider the actual existence of the software driver system when designing the controller. Various uncertainties, such as unmodeled dynamics of the system, external disturbances, and disturbances of internal parameters of the system, etc. [0004] Active Disturbance Rejection Contro...

Claims

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Application Information

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IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/25257Y02P90/02
Inventor 刘艳红张宽吴振龙霍本岩杨磊
Owner ZHENGZHOU UNIV
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