自抗扰控制器的分析及设计  

Analysis and Design of Auto-Disturbance-Rejection Controller(ADRC)

作　　者：刘军[1] 薛必翠[2] 郑军海[1] 

机构地区：[1]山东大学控制科学与工程学院,山东济南250061 [2]济南大学,山东济南250022

出　　处：《信息技术与信息化》2008年第3期106-108,114,共4页Information Technology and Informatization

基　　金：山东省自然科学基金资助(Y2006G02)

摘　　要：自抗扰控制器是利用非线性控制理论而设计的新型控制器。这种控制器不依赖被控对象的精确数学模型,采用跟踪微分器处理参考输入,扩张状态观测器估计系统状态、模型和外扰,非线性状态误差反馈组合,能够实现对被控对象的良好控制。本文总结了自抗扰控制器的调节规律,解决了自抗扰控制器参数难以整定的问题。仿真证明,这种控制器对被控系统具有较强的快速性、适应性和鲁棒性,具有很高的工程实用价值。In this paper, a new kind of controller - - ADRC, which based on the theory of nonlinear control, is designed. This controller does not depend on the accuracy of the object model. It uses the tracking differential to deal with the reference input and estimates the system＇ s state, model and interference through extended state observer. Furthermore, with the compounding of nonlinear state error feedback it could achieve a good control of the plant. This paper sums up the regulating rule of the ADRC and solves the ADRC parameters＇ tuning problem. Simulation results show that the controller which represents better rapidity, adaptability and robustness has high practical value in engineering.

关 键 词：自抗扰控制器 跟踪微分器 扩张状态观测器 非线性状态误差反馈 参数整定 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP13[自动化与计算机技术—控制科学与工程]