线性扩张状态观测器的改进及观测精度分析  

Improvement and observation accuracy analysis of linear extended state observer

作　　者：孙佃升[1,2] 章跃进 SUN Diansheng;ZHANG Yuejin(School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200072,China;Department of Electrical Engineering,Binzhou University,Binzhou 256600,China)

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：《国防科技大学学报》2017年第6期111-117,共7页Journal of National University of Defense Technology

基　　金：国家自然科学基金资助项目(5117097);山东省自然科学基金资助项目(ZR2014EL021)

摘　　要：为提高线性扩张状态观测器的观测精度,加快其收敛速度,从偏差控制的基本原理出发,提出了一种应用于自抗扰控制系统的改进型线性扩张状态观测器。该改进型线性扩张状态观测器将各状态变量与其观测值之间的偏差作为各状态变量的调节依据。给出了改进后的二阶和三阶线性扩张状态观测器的观测误差系统的稳定性证明,并进行观测精度分析。仿真结果表明,该改进型的二阶和三阶线性扩张状态观测器比传统的同阶次扩张状态观测器的收敛速度更快、观测精度更高。In order to accelerate convergence rate and promote observation precision of linear ESO(extended state observer),an improved linear ESO used in active disturbance rejection control system was proposed.The improved linear ESO followed error controlling principle and used the errors between the state variables and their observed values as the regulation basis.It is proved that the observation error of this improved second-order and third-order linear ESO is stable,and its steady state error is greatly reduced when compared with the traditional linear ESO.Simulation results show that the second-order and third-order improved linear ESO is faster and more accurate than the traditional same order linear and nonlinear ESO.

关 键 词：扩张状态观测器 Lyapnov函数 观测精度 自抗扰控制 

分 类 号：TM46[电气工程—电器]