球杆系统的阻尼自适应抗扰控制  

Damping Adaptive Active Disturbance Rejection Control for Ball-Beam System

作　　者：周长新 聂卓赟[1] 程前 何旺祥 朱恩泽 ZHOU Changxin;NIE Zhuoyun;CHENG Qian;HE Wangxiang;ZHU Enze(College of Information Science and Engineering,Huaqiao University,Xiamen 361021,China)

机构地区：[1]华侨大学信息科学与工程学院,福建厦门361021

出　　处：《华侨大学学报（自然科学版）》2022年第4期511-517,共7页Journal of Huaqiao University(Natural Science)

基　　金：国家自然科学基金资助项目(61403149);福建省自然科学基金资助项目(2019J01053)。

摘　　要：为了提高球杆系统的稳定性和抗扰性能,设计一种阻尼自适应抗扰控制策略.首先,分析球杆系统的非线性动力学过程,并在平衡点附近建立用于控制策略设计的线性模型.然后,在线性自抗扰控制(LADRC)基础上,提出一种阻尼自适应抗扰控制策略,可以克服不稳定对象的闭环振荡,提升抗扰性能.最后,通过仿真和实验,对阻尼自适应抗扰控制与LADRC的控制效果进行比较.结果表明:相较于LADRC,文中方法的震荡超调、调节时间和抗扰性能等指标更加优异,文中方法具有优越性和有效性.In order to improve the stability and disturbance rejection performance of the ball-beam system,a damping adaptive active disturbance rejection control strategy was designed.Firstly,the nonlinear dynamic process of the ball-beam system was analyzed,and the linear model for control strategy design was established near the equilibrium point.Then,based on linear active disturbance rejection control(LADRC),a damping adaptive disturbance rejection control strategy was proposed,which could overcome the closed-loop oscillation of unstable object,and improved the disturbance rejection performance.Finally,the control effects of damping adaptive active disturbance rejection control and LADRC were compared through simulation and experiment.The results showed that compared with LADRC,the oscillation overshoot,adjustment time and disturbance rejection performance of the proposed method were better,superiority and effective.

关 键 词：自适应抗扰控制 球杆系统 阻尼 控制效果 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]