扩张状态观测器的性能与应用

研究自抗扰控制方法中的扩张状态观测器(ESO)。通过频域分析可得出该观测器性能随频率升高而逐渐衰减的结论,衰减程度取决于观测器的参数和系统的采样频率,并指出对现有的参数配置方法加以改进可以获得补偿性能更好的观测器。提出了一种非线性扩张状态观测器,在同等采样率条件下能够提高观测器的跟踪性能。仿真结果表明,所提出的状态观测器与现有的观测器相比,在主动控制中效果更好。

Property and applications of extended state observer

The extend state observer(ESO) in the active disturbance rejection control method is studied. The analysis in
the frequency domain shows that ESO is effective in the low frequency domain but invalid in the high frequency domain.
Two mainly factors, the sampling time and the coefficients of ESO, are discussed, by which a better ESO is obtained. An
improved ESO is proposed, which has better performance than the present ESO under same limitations. Simulation results
show that the improved ESO is a better observer for active control.