自抗扰控制器在舞台设备远程监控系统中的应用  

Application of Active Disturbance Rejection Controller in Stage Equipment Remote Monitoring System

作　　者：骆鹤松[1] 沈汉林 武晓峰 LUO Hesong;SHEN Hanlin;WU Xiaofeng(College of Technical Engineering,Lanzhou University of Technology,Lanzhou 730050;College of Electrical Engineering and Information Engineering,Lanzhou University of Technology,Lanzhou 730050;Shannxi Yellow River Group Co.,Ltd.,Xi'an 710032)

机构地区：[1]兰州理工大学技术工程学院,兰州730050 [2]兰州理工大学电气工程与信息工程学院,兰州730050 [3]陕西黄河集团有限公司,西安710032

出　　处：《计算机与数字工程》2020年第9期2136-2141,共6页Computer & Digital Engineering

摘　　要：现代舞台设备的种类和应用场景繁多,系统内外不确定因素的干扰众多,包括设备的惯性,延时和负载的变化等;另外设备控制系统是一个非线性、时变的复杂系统。以上原因导致传统PID控制器的控制效果不理想,因此将自抗扰控制器(active disturbance rejection control,ADRC)的思想引入到舞台设备的远程监控系统中。在介绍了某舞台设备远程监控系统的结构、关键硬件和软件技术的基础上,设计了自抗扰控制器;接着根据分离性原理分别对自抗扰控制器的跟踪微分器、扩张状态观测器、非线性误差反馈控制规律的参数进行整定。仿真结果表明,自抗扰控制器比传统的PID控制器有更好的动态性能和抗干扰性,此结果在工程项目中得到论证。There are many kinds of modern stage equipments and application scenarios,and there are many disturbances of uncertain factors inside and outside the system,including inertia of equipment,delay and load changes,etc.In addition,the equipment control system is a nonlinear time-varying complex system.The above reasons lead to the unsatisfactory control effect of the traditional PID controller,so the idea of active disturbance rejection control(ADRC)is introduced into the remote monitoring system of stage equipment.On the basis of introducing the structure,key hardware and software technology of a stage equipment remote monitoring system,an ADRC controller is designed.Then,according to the principle of separation,the parameters of the tracking differentiator,the extended state observer and the nonlinear error feedback control law of the ADRC are respectively adjusted.The simulation results show that the ADRC has better dynamic performance and anti-interference performance than the traditional PID controller.The results are demonstrated in engineering projects.

关 键 词：自抗扰控制器 PID 远程监控系统 非线性时变系统 

分 类 号：TP272[自动化与计算机技术—检测技术与自动化装置]