摘要
为了克服PID控制器自身具有的缺陷,在PID的基础上提出了自抗扰控制器(ADRC)。该控制器由跟踪微分器、扩张状态观测器和非线性状态误差反馈三部分组成,其控制效果优于经典PID控制器,但是参数众多、调节复杂。通过线性简化和参数整合建立简化的线性自抗扰控制器。MATLAB仿真表明,简化的线性自抗扰控制器参数调节过程大大简化,而控制性能并未受到明显影响。
Auto disturbance rejection controller （ ADRC ） is put forward based on PID controller in order to overcome its own defects. The con- troller proposed is composed of tracing differentiation, extended state observer, and nonlinear state error feedback. Its control result is better than traditional PID controller, but it has too many parameters and is difficult to be regulated. So the simplified linear auto disturbance rejection controller { LADRC } is established by means of linear simplification and parameter conformity. The simulations in MATLAB show that the regulation of parameters is simple while the performance of LADRC is not influenced remarkably.
出处
《自动化仪表》
CAS
2007年第5期27-28,31,共3页
Process Automation Instrumentation
关键词
自抗扰控制器
线性自抗扰控制器
线性扩张状态观测器
Auto disturbance rejection controller Linear auto disturbance rejection controller Linear extended state observer
