基于最小拍观测器的自抗扰控制器设计与性能分析

自抗扰控制器设计中,扩张状态观测器需要较高的观测带宽,才能更快的观测出状态变量.本文采用最小拍观测器,使得其具有最快的观测速度.以2阶系统为例,得到了离散系统下,基于最小拍观测器的自抗扰控制器的等价复合控制模型,其开环补偿器等价为超前校正器.仿真结果表明,基于最小拍观测器的自抗扰控制器可以最快的观测出系统状态变量,且控制器带宽的选取一般应小于采样周期的倒数.由于不再需要设计观测器带宽,从而简化了参数设计.

Active disturbance rejection controller based on deadbeat observer design and performance analysis

In active disturbance rejection controller (ADRC) design, extended state observers (ESO) always require a higher bandwidth to observe state variables faster. This paper replaces original ESO by deadbeat observer and makes the fastest observation speed. Take second order plant as an example, the discrete ADRC based on deadbeat observer equivalent complex control model is given, and the open-loop compensator works like lead corrector. Simulation results verified the fastest observation speed and the controller bandwidth should be less than the reciprocal of sampling time. The ADRC control based on deadbeat observer process is easier as the ESO bandwidth design is no longer needed.