高阶线性自抗扰控制器的性能评估  

Performance evaluation for active disturbance rejection with high-order line extended state observer

作　　者：张皎[1] 杨旭[1] 刘源翔[1] 姚晓先[1] 

机构地区：[1]北京理工大学宇航学院,北京100081

出　　处：《控制与决策》2015年第7期1162-1170,共9页Control and Decision

摘　　要：以二阶系统为研究对象,在线性扩张观测器(LESO)的基础上,给出高增益形式的高阶LESO.基于高阶线性自抗扰控制器(HLADRC)二自由度闭环传递函数和频域特性曲线,证明了其状态估计误差的收敛性以及高阶线性自抗扰控制器的稳定性.同时,系统地分析了输入增益和模型参数不确定性对稳定鲁棒性的影响,推导出满足系统稳定条件的参数b的稳定域以及系统干扰抑制动态特性与带宽的关系.最后,通过与线性自抗扰控制器(LADRC)的对比仿真表明,HLADRC在干扰抑制方面具有很大的优势,而LADRC在稳定鲁棒性和控制品质方面具有更好的效果,从而为工程设计提供了理论依据和实践参考.Based on the linear extended state observer（LESO）, a high-order LESO of high-gain form for the second-order plant is proposed. The convergence of the state estimation error of HLESO and the stability of high-order liner active disturbance rejection control（HLADRC） is proved. Simultaneously, robustness for input gain uncertainty and model uncertainty are analyzed based on the two-degree-of-freedom（2dof） closed-loop transfer function and frequency response. Then, the region of parameter b where the closed-loop system is stable and the relationship between the dynamic characteristics of rejection for external disturbance and controller bandwidth is discussed. Finally, simulation experiment is carried out by comparing with liner liner active disturbance rejection control. The results show that the HLADRC has a stronger anti-disturbance ability and convergence performance, but in this case the LADRC has a better robust stability and performance, establishing both the conceptual and pactical foundation for engineering design.

关 键 词：自抗扰控制 高阶LESO 频域分析 鲁棒性 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]