ADRC-GPC算法在旋转倒立摆系统中的应用  

Application of ADRC-GPC algorithm for rotary inverted pendulum system

作　　者：李俊芳[1] 毕旺琪 李毅[1,2] 高强 陈增强[2] LI Junfang;BI Wangqi;LI Yi;GAO Qiang;CHEN Zengqiang(School of Electrical Engineering and Automation,Tianjin University of Technology,Tianjin 300384,China;College of Artificial Intelligence,Nankai University,Tianjin 300350,China)

机构地区：[1]天津理工大学电气工程与自动化学院,天津300384 [2]南开大学人工智能学院,天津300350

出　　处：《传感器与微系统》2023年第9期165-168,共4页Transducer and Microsystem Technologies

摘　　要：自抗扰广义预测控制(ADRC-GPC)是一种由广义预测控制技术和自抗扰控制技术有机结合的新型控制算法。该算法首先利用扩张状态观测器(ESO)估计出系统的总扰动;其次,引入虚拟控制量以抵消该总扰动作用,使原被控对象系统转化为积分器串联型系统;最后,利用GPC对新系统进行收敛控制。ADRC-GPC不仅可以有效避免传统GPC的在线计算量过大问题,还无须使用状态量的高阶信息,相比传统ADRC大大降低了调参难度。针对一级旋转倒立摆稳定控制问题中的强耦合、非线性等难点,设计了双通道ADRC-GPC融合控制器。仿真实验结果表明:ADRC-GPC控制器能够使一级旋转倒立摆系统达到控制目的,其对多变量非线性不稳定系统具有良好的控制性能。Active disturbance rejection control-generalized predictive control(ADRC-GPC)is a new type of control algorithm that combines generalized predictive control(GPC)technology and active disturbance rejection control(ADRC)technology.Firstly,the algorithm uses the extended state observer(ESO)to estimate the total disturbance of the system.Then,the virtual control quantity is introduced to offset the total disturbance,so that the original controlled object system is transformed into an integrator series system.Finally,GPC is used to control the convergence of the new system.ADRC-GPC not only can effectively avoid the problem of excessive online calculated amount of traditional GPC,but also does not need to use high-level information of state quantity,which greatly reduces the difficulty of tuning parameters compared with traditional ADRC.Aiming at the difficulties in the stability control of the first-order rotary inverted pendulum system,such as strong coupling and nonlinearity,a dual-channel ADRC-GPC fusion controller is designed.The simulation experiment results show that the ADRC-GPC controller can make the first-order rotary inverted pendulum system achieve the control purpose,and it has good control performance for the multivariable nonlinear unstable system.

关 键 词：旋转倒立摆系统 扩张状态观测器 自抗扰控制 广义预测控制 自抗扰广义预测控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]