一种抑制初始微分峰值现象的改进型三阶时变参数扩张状态观测器  

Improved third-order time-varying parameters nonlinear ESO restraining the derivative peaking phenomenon

作　　者：孙佃升[1,2] 章跃进 

机构地区：[1]上海大学机电工程与自动化学院,上海200072 [2]滨州学院电气工程学院,山东滨州256600

出　　处：《电机与控制学报》2017年第9期55-62,共8页Electric Machines and Control

基　　金：山东省自然科学基金(ZR2016FQ16;2014ZRB019X3)

摘　　要：传统扩张状态观测器(extended state observer,ESO)在运行时普遍存在着由于状态变量的初始观测值和实际值的偏差过大带来的初始微分峰值现象。为抑制微分峰值现象,避免系统调节过程中出现振荡,缩短调节时间,提高动态性能,提出了一种改进型三阶时变参数ESO。首先,给出了改进型三阶时变参数ESO的构建方法和稳定性证明。然后,分析了该新型ESO在有扰动时的观测误差范围,并与传统ESO做了对比。最后,通过仿真表明该三阶改进型时变参数ESO能有效抑制微分峰值现象,且比传统的三阶非线性ESO具有更快的收敛速度和更高的观测精确度。The derivative peaking phenomenon in the traditional extended state observer （ESO） is univer- sal because its deviations of initial estimated values and actual values of state variables are too large. An improved time-varying parameters third-order nonlinear ESO was proposed in order to restrain the derivative peaking phenomenon, avoid the system namic performance. Firstly, the construction oscillating, shorten the adjusting time and improve the dymethod of the improved ESO and the mathematical proof of the stability of its observation error system were given. Then observation error range of the improved ESO was analyzed and compared with the traditional ESO. Finally, effectiveness of the improved ESO was verified by computer simulation. The simulation results show that the improved third-order time-varying parameters nonlinear ESO can effectively restrain the derivative peaking phenomenon, and it has faster convergence speed and higher observation accuracy than the traditional three order nonlinear ESO.

关 键 词：自抗扰控制 扩张状态观测器 观测精确度 微分峰值现象 时变参数 状态估计 不确定系统 

分 类 号：TM46[电气工程—电器]