内模控制框架下时延系统扩张状态观测器参数整定

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.

Extended state observer tuning for time-delay systems in the framework of internal model control

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.