基于PID参数整定的线性自抗扰控制参数整定

线性自抗扰控制(linear active disturbance rejection control,LADRC)是不依赖于被控对象的数学模型,在工业过程中具有极大的应用前景,LADRC参数整定是其在工业过程中能否应用的重要环节.鉴于实际工业控制中大都采用PID控制器,通过对二阶LADRC结构与其状态观测器的传递函数进行分析,得到二阶LADRC与PID控制器具有较强的联系,且LADRC比PID有着更好的控制性能.提出一种通过现有PID参数直接得到LADRC参数初始值的方法,以达到更好的控制性能,并基于一阶惯性加时延模型,得到将现有PID整定方法转化为二阶线性自抗扰控制参数整定方法.最后通过基准系统仿真表明所提出方法的有效性.

Tuning of linear active disturbance rejection controllers based on PID tuning rules

Linear active disturbance rejection control(LADRC), which is independent of the mathematical model of the controlled object, has great application prospect in the industrial process, and the parameters tuning of LADRC is an important part of its application in the industrial process. In view of the fact that the PID controller is mostly used in industrial control, through the analysis of the structure of second-order LADRC and the transfer function of its state observer, it can be concluded that there is a strong relationship between the second-order LADRC and the PID controller, and the LADRC has better control performance than PID. This paper presents a method to get the initial value of LADRC parameters directly from the existing PID parameters to achieve better control performance and based on the first-order inertia plus time-delay model, the PID tuning methods are transformed into the second-order LADRC parameterS tuning methods. Finally, the simulation of the benchmark system verifies the effectiveness of the proposed method.