摘要
自抗扰控制器(ADRC)具有优良的控制性能。介绍了二阶自抗扰控制器的结构与离散算法,阐述了其参数整定规律。针对算法中非线性函数不易数字化实现的问题,提出了基于仿真经验参数建立数据链表来查表实现非线性运算的方法。设计了自抗扰控制器DSP实现流程图,编写了基于TMS320F2812型DSP的控制算法,将其应用于电动变桨伺服驱动器。实验结果表明,采用建立数据链表查表法来实现非线性函数是可行的,ADRC控制器可以很好地解决跟踪快速性与超调的矛盾,对控制对象参数扰动具有较强鲁棒性。
Active disturbance rejection controller （ADRC） has excellent control performance.The structure and discrete algorithm of a two order active disturbance rejection controller was introduced and its parameter tuning rules were expounded.To resolve the problem which the nonlinear function in the algorithm is not easy to digital implement,a look-up table originated from simulation empirical parameters method was proposed.The DSP flow chart of ADRC was designed and DSP control algorithm based on TMS320F2812 was written,which was further applied to the electric variable pitch servo driver.The experimental results show that,the method of establishing a data linked list look-up table to realize nonlinear function is feasible; the ADRC controller can well solve the contradiction between tracking rapidity and overshoot,and has strong robustness to the control object parameter perturbations.
出处
《电气传动》
北大核心
2014年第1期68-72,共5页
Electric Drive
关键词
数字信号处理器
自抗扰控制器
参数整定
非线性函数
伺服控制
digital signal processor （DSP）
active disturbance rejection controller
, parameter adjustment
nonlinear function
servo control
作者简介
汪常明（1987-）,男,在读研究生,Email：long1919abc@126.com
