Parameter self-tuning method for active disturbance rejection controller of position loop

Abstract

The invention provides a position loop active disturbance rejection controller parameter self-tuning method. The method comprises the following steps: step (1), establishing a position loop controlled object transfer function model; (2) writing the position loop controlled object transfer function model into an active disturbance rejection form to obtain a relationship between a parameter b0 to be set and a parameter of the transfer function model; (3) identifying a transfer function model parameter of the controlled object of the position loop through an identification algorithm, obtaining b0 through the identified model parameter, and substituting the obtained b0 into a control system; and step (4), taking the residual to-be-set parameters omega c and omega o of the active disturbance rejection controller as to-be-optimized parameters of an evolutionary algorithm, and performing iterative optimization on omega c and omega o by using the evolutionary algorithm. According to the method and the device, the problem that local optimum is easily caused when three parameters of the active-disturbance-rejection controller are self-tuned by adopting an evolutionary algorithm in the prior art is solved, the burden of manually and repeatedly debugging the control parameters is relieved, and the parameter self-tuning efficiency of the controller is improved.

Description

technical field [0001] The invention belongs to the field of control systems, in particular to a method for self-tuning parameters of a position loop auto-disturbance rejection controller. Background technique [0002] Coarse Pointing Assembly (CPA)) is a device that controls the initial pointing and tracking of light beams in satellite optical communications. With the advantage of strong anti-interference ability, the active disturbance rejection controller is applied to the position control of the spatial coarse pointing mechanism to improve the control accuracy. CPA goes from the ground to the space, because the space environment is very different from the ground environment, and the long-term work will inevitably lead to the change of the controlled object model of the ADRC. After the controlled object model is changed, in order to maintain the excellent performance of the ADR controller, the controller needs to have parameter self-tuning capability. [0003] The param...

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Problems solved by technology

[0005] The purpose of the present invention is: for the fuzzy rule method and the relay feedback method are not suitable for self-tuning CPA position self-disturbance rejection controller parameters, and evolutionary algorithm self-tuning CPA position loop self-disturbance rejection controller, did not utilize model information to make The self-tuning efficiency is low, and it is easy to fall into local optimum. A method for parameter self-tuning of the ADRC controller is provided, and the efficiency of parameter self-tuning is improved on the basis of the existing evolutionary algorithm.

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