Three-parameter fastest self-anti-interference controller device and self-anti-interference control method

Abstract

This invention relates to a three parameter self-anti-disturbance controller and a control method, among which, the controller includes: a transition process mode memory device storing several transition process modes based on the controlled target and bearing ability of the object, an expanding state observatory estimating the motion state of the object and acting on the sum of all the disturbed action volumes of the object based on its input and output signals, an error feedback device taking error signals as the input to generate error feedback control volume in terms of the quickest control rule and a dynamic compensation device generating final control signals to the quickest control rule and a dynamic compensation device generating final control signals to the disturbed sum action volume given by the observatory and its parameter is given by the sample step length in a certain way, not necessary to be regulated at site, the adjustable parameters at site are two parameters in the error feedback device and one in the dynamic compensation device.

Description

technical field [0001] The invention relates to a three-parameter fastest active disturbance rejection controller device and an active disturbance rejection control method. Background technique [0002] At present, the vast majority of controllers used in process control are PID (Proportional-Integral-Derivative) regulators and their variants formed in the 1940s. In the 1960s, the modern control theory based on the mathematical model of the controlled object has been greatly developed. However, a large number of actual controlled objects cannot provide suitable mathematical models, and the achievements of modern control theory are difficult to be used in actual control engineering. As a result, various forms of "advanced control" methods began to appear in the 1980s, but these advanced control methods did not get rid of the constraints of mathematical models, and all used complex methods such as "object modeling", "system identification", and "self-adaptation". The procedu...

AI Technical Summary

Problems solved by technology

[0009] 1. The control target can jump, but as the output of the dynamic link-the actual behavior of the object can only change slowly, and it is unreasonable to require "slowly changing behavior" to track the "mutant target";

[0010] 2. Lack of a suitable method to obtain the error differential signal;

[0012] 4. The introduction of error integral feedback I has a good effect on eliminating the influence of constant external disturbance, but there are many side effects;

[0028] 1. The target transition process arranged by the tracking differentiator (TD) has a jump in acceleration, which is likely to cause a jump in the control quantity during the transition process. This phenomenon sometimes brings certain difficulties to engineering realization;

[0029] 2. The nonlinear function used in the Extended State Observer (ESO) requires more calculations;

[0032] However, the "fastest active disturbance rejection controller" in Chinese patent application No. 01129433.7 contains many adjustable parameters, and the engineering significance of some parameters is not very clear and needs to be further improved.

Images