线性自抗扰控制参数整定鲁棒性的根轨迹分析
Root locus analysis on parameter tuning robustness of linear active disturbance rejection control
摘要点击 172  全文点击 264  投稿时间:2017-10-25  修订日期:2018-02-12
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DOI编号  10.7641/CTA.2018.70775
  2018,35(11):1648-1653
中文关键词  自抗扰控制  参数整定  极点配置  根轨迹  鲁棒性
英文关键词  linear active disturbance rejection control  parameter tuning  pole placement  robustness  root locus
基金项目  国家自然科学基金项目(61733017), 福建省自然科学基金项目(2016J01317), 国家留学基金项目(201606315084)资助.
学科分类代码  
作者单位E-mail
金辉宇 厦门大学航空航天学院 jinhy@xmu.edu.cn 
张瑞青 河北农业大学机电工程学院  
王雷 天津理工大学数学系  
高志强 克里夫兰州立大学先进控制中心  
中文摘要
      从极点配置和根轨迹的角度研究了二阶线性定常对象的线性自抗扰控制. 提出一个新传递函数框图. 基于该框 图, 将线性自抗扰控制的参数整定解释为闭环极点配置问题, 控制器带宽、观测器带宽等参数的整定被看作开环极、零 点位置的选择. 建议用根轨迹法研究线性自抗扰控制的鲁棒性. 通过分析根轨迹定性说明了观测器带宽可以等于控制器 带宽, 以及线性自抗扰控制对被控对象参数变化的鲁棒性.
英文摘要
      The linear active disturbance rejection control for the second order linear time invariant plant is investigated from the viewpoint of pole placement and root locus. A new transfer function block diagram is proposed. Based on the diagram, the parameter tuning of linear active disturbance rejection control is interpreted as a closed-loop pole placement problem, while tuning of controller bandwidth and observer bandwidth is viewed as open-loop poles and zeros assignment. It is proposed to investigate linear active disturbance rejection control with root locus. With analyzing root loci, it qualitatively illustrates the reason why the observer bandwidth can equal to the controller bandwidth and the the robustness of linear active disturbance rejection control subjects to the plant’s parametric uncertainty.