针对非线性不确定惯性串联系统的控制问题,提出了惯性串联型扩张状态观测器(Extended state observer,ESO),使其可直接对惯性串联系统的扩张状态进行估计,同时把被控对象的极点配置到期望位置,在此基础上提出了适合惯性串联系统的自抗扰控制(Active disturbance rejection control,ADRC)方法,该惯性串联型ADRC方法可以充分利用被控对象的已有知识.论文还给出了惯性串联型ADRC和基于扰动观测器(Disturbance observer,DOB)的控制方法之间的联系,指出它们具有相同的三自由度(three-degree of freedom control,3-DOF)控制系统结构和模块功能,都能实现对系统期望模型以外的总扰动进行估计和补偿.仿真结果表明,所提出的方法是有效的,惯性串联型ESO能实现系统总扰动的估计,惯性串联型ADRC能使系统输出能很好地跟踪系统参考输入.
【英文摘要】
For the control problem of nonlinear cascade inertia systems with uncertainties,an extended state observer(ESO) for cascade inertia systems is presented,which can directly estimate the extended state of the cascade inertia system and also arrange the poles of the controlled plant to the desired places.Based on this ESO,an active disturbance rejection control(ADRC)for cascade inertia systems is presented to take full advantage of the known knowledge of the controlled plant.This paper also gives the relations...
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