【摘要】 针对在工业中广泛应用的PID控制器的特点及存在的问题做了分析,并介绍了自抗扰控制技术的原理、结构、以及控制器的设计.对一个永磁直线电机在考虑将电机耦合视为内扰及外部摩擦干扰情况下的具体实例给出了采用自抗扰控制技术的仿真结果.同时对简化的电机模型也给出了采用PID调节的仿真结果.结合仿真结果可以看到自抗扰控制器的抗干扰性和鲁棒性都优于经典PID控制器.更多还原

【Abstract】 <Abstrcat> This paper analyzes the features and problem of PID controller,and presents the principle,structure and design of the auto-disturbance-rejection controller(ADRC).Regarding motor coupling in a permanent-magnet linear motor as the internal disturbance,and taking account of the friction disturbance,we presented the simulation results when using ADRC technique.(At the) same time,the simulation results of using PID controller are also presented for the simplified motor.From the results,it (is concluded) that the auto-disturbance-rejection controller has advantage over PID controller in the disturbance rejection and (robustness.)更多还原