| 引用本文: | 金辉宇,史国明,兰维瑶.二阶无零点对象的内扰、扩张状态与韩氏扩张实现[J].控制理论与应用,2025,42(11):2179~2187.[点击复制] |
| JIN Hui-yu,SHI Guo-ming,LAN Wei-yao.Internal disturbance, extended state, and Han extended realization of the second-order plants without zero[J].Control Theory & Applications,2025,42(11):2179~2187.[点击复制] |
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| 二阶无零点对象的内扰、扩张状态与韩氏扩张实现 |
| Internal disturbance, extended state, and Han extended realization of the second-order plants without zero |
| 摘要点击 3450 全文点击 134 投稿时间：2025-03-30 修订日期：2025-10-26 |
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| DOI编号 10.7641/CTA.2025.50130 |
| 2025,42(11):2179-2187 |
| 中文关键词 自抗扰控制 内扰 总扰动 扩张状态 韩氏扩张实现 |
| 英文关键词 active disturbance rejection control internal disturbance total disturbance extended state Han extended realization |
| 基金项目 国家自然科学基金项目(62273285)资助. |
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| 中文摘要 |
| 自抗扰控制提出了内扰、总扰动和扩张状态等新概念,也让诠释这些概念成为控制理论的新课题.本文以
二阶无零点对象为例,在线性系统理论框架内诠释上述概念.内扰被诠释为对象能控规范形中反馈项产生的信号.
本文提出了韩氏扩张实现的概念,该实现的状态就是扩张状态,其中包含一个能观不能控的分量.扩张状态观测器
是韩氏扩张实现的观测器,而线性自抗扰控制是基于韩氏扩张实现的输出反馈控制.这些结果表明,上述概念与线
性系统理论完全兼容,其研究有望为线性系统理论带来新的方向和活力. |
| 英文摘要 |
| Active disturbance rejection control (ADRC) brings new concepts such as internal disturbance, total dis
turbance, and extended state, while interpreting these concepts becomes a new problem of control theory. Taking the
second-order plant without zero as an example, this paper interprets the above concepts in the framework of linear system
theory. Internal disturbance is interpreted as the signal generated by the feedback item in the controllable canonical form.
The concept of Han extended realization is proposed, while extended state, which has a state variable observable but un
controllable, is the state of Han extended realization. Furthermore, extended state observer is the observer of Han extended
realization, while linear ADRC is output feedback based on Han extended realization. These results show that the above
concepts are totally consistent with linear systems theory, and the research of linear ADRC may bring new directions and
vitality into linear system theory. |
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