引用本文:徐琦,孙明玮,陈增强,张德贤.内模控制框架下时延系统扩张状态观测器参数整定[J].控制理论与应用,2013,30(12):1641~1645.[点击复制]
Xu Qi,SUN Ming-wei,CHEN Zeng-qiang,ZHANG De-xian.Extended state observer tuning for time-delay systems in the framework of internal model control[J].Control Theory and Technology,2013,30(12):1641~1645.[点击复制]
内模控制框架下时延系统扩张状态观测器参数整定
Extended state observer tuning for time-delay systems in the framework of internal model control
摘要点击 3270  全文点击 2246  投稿时间：2013-09-14  修订日期：2013-11-30
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DOI编号  10.7641/CTA.2013.30970
  2013,30(12):1641-1645
中文关键词  自抗扰控制  扩张状态观测器  内模控制  时延  稳定性
英文关键词  active disturbance rejection control  extended state observer  internal model control  time delay  stability
基金项目  国家自然科学基金资助项目(61174094, 61273138); 新世纪优秀人才支持计划资助项目(NCET–10–0506); 天津市自然科学基金资助 项目(13JCYBJC17400)
作者单位E-mail
徐琦* 南开大学, 军事交通学院, xiaoxu_kzgc@163.com 
孙明玮 南开大学计算机与控制工程学院  
陈增强 南开大学计算机与控制工程学院  
张德贤 南开大学电子信息与光学工程学院  
中文摘要
      作为一种有效的控制设计方法, 自抗扰控制研究获得了广泛关注, 然而针对自抗扰控制器的参数整定方法则相对较少. 本文针对一阶惯性加延迟系统, 将线性自抗扰控制转化为内模控制结构, 导出了其中控制器、滤波器、乘性不确定性、互补灵敏度函数的对应表达式, 随后, 利用频域鲁棒稳定性判据, 分析了自抗扰控制器核心—–扩张状态观测器的参数对闭环系统稳定性的影响. 基于该分析, 总结出一阶惯性加延迟系统扩张状态观测器的两条参数整定准则. 数值仿真结果验证了该整定准则的有效性.
英文摘要
      Active disturbance rejection control (ADRC) is a powerful tool in practical applications, which attracts wide attention in recent years. However, there are few systematic and useful tuning methods for it. In this paper, the linear ADRC for the typical first-order-plus-time-delay process is transformed into an internal model control (IMC) structure to perform insightful analysis. The corresponding controller, the filter, the multiplicative uncertainty and the complementary sensitivity function within the IMC framework are obtained, respectively. Then, the robust stability criterion in the frequency domain is employed to quantitatively investigate the effects of the parameters of the extended state observer (ESO), the key component of ADRC, on the closed-loop stability. According to the analysis, two tuning guidelines for the ESO are presented explicitly. Numerical simulations are used to validate the effectiveness of the proposed results.