摘要
自抗扰控制(Active Disturbance Rejection Control,ADRC)继承了PID控制基于误差反馈的优点,在控制中不需要模型的先验知识,并结合了经典调节理论与现代控制理论各自的优点,因而在实际工程中得到了广泛应用。文中分析了电动舵机传统PID控制中存在的动态响应慢和抗扰能力弱的问题;建立了基于直接转矩控制的舵机系统数学模型;设计了线性扩张状态观测器,并给出了观测器参数的简便确定方法,通过观测器观测出的扰动将系统补偿为串联积分器的形式;采用不同的控制器对补偿后的系统进行稳定性分析,根据稳定性和实现难易程度,决定采用比例微分负反馈控制器。最后对设计的观测器和控制器进行了仿真,仿真结果表明,设计的观测器和控制器与传统PID控制相比在动态响应和抗扰能力上都具有巨大的优势。
Active disturbance rejection control(ADRC)inherits the advantage of being based on error feed back of PID control.It does not need model prior knowledge in control,and combines the advantages of clas sical regulation theory and modern control theory,so it has wide applications in practical engineering.In this paper,the problems of slow dynamic response and weak disturbance rejection in traditional PID control of electromechanical actuator are analyzed;the mathematical model of the actuator system based on direct torque control is established;a linear extended state observer is designed and a simple method for determining the pa rameters of the observer is given,the disturbance observed by the observer compensates the system as a series integrator;different controllers are used to analyze the stability of the compensated system.According to the stability and the difficulty of realization,the proportional differential negative feedback controller is adopted.Finally,the designed observer and controller are simulated.The simulation results show that the designed ob server and controller have great advantages in dynamic response and disturbance rejection compared with tradi tional PID control.
作者
张强
张军
蔡权林
罗明亮
黄佳怡
张晓澈
ZHANG Qiang;ZHANG Jun;CAI Quanlin;LUO Mingliang;HUANG Jiayi;ZHANG Xiaoche(Shanghai Aerospace Control Technology Institute,Shanghai 201109,China)
出处
《电子机械工程》
2020年第1期60-64,共5页
Electro-Mechanical Engineering
关键词
线性自抗扰控制
电动舵机
高动态
线性扩张状态观测器
比例微分负反馈控制
linear active disturbance rejection control(LADRC)
electromechanical actuator
high dynamic
linear extended state observer
proportional differential negative feedback control
