基于系统输出带有噪声的自抗扰控制器

自抗扰控制器并不依赖于生成扰动的具体的数学模型,它从某种意义上来说,是通用而实用的控制器。对于实际系统,在输出的量测环节中不可避免的会引入噪声,当系统输出被噪声污染时,自抗扰控制器的控制精度并不令人满意,闭环系统甚至不稳定,需要先滤波处理量测数据,但滤波后信号的幅值、相位与系统的真实输出有较大差别,若以此作为系统的输出,则必然会造成较大的误差。基于扩张状态观测器可以对不确定系统中的内外扰动进行观测的机理,构造出了积分扩张状态观测器,可以处理量测环节带有噪声干扰时的情况,并以此为基础构成积分型自抗扰控制器。通过仿真表明,该方法可以有效的解决输出噪声对自抗扰控制系统的影响。

A New Type of ADRC Based on the System Output with Noises

ADRC（ Active Disturbance Rejection Controllor） does not depend on the specific generated mathematical model of disturbance. In an extent,ADRC is a general and practical controller. It will be an inevitable part of the introduction of noise in the output measurement for an actual system. The control accuracy of ADRC is not satisfactory,and the close-loop system is not stable or even. It needs to filter processing in the measured data. It has a greater difference between the filtered signal and the actual output of the system in the amplitude and phase. If the filtered signal is the output of the system,it will definitely lead to larger errors. In this paper,based on the internal and external disturbances of the uncertain system of ESO（ Extended State Observer） in the observational mechanism,we construct integral ESO. It can deal with the measurement part of the situation with noise. What is more,we can construct integral ADRC based on the integral ESO. The simulation shows that the method can effectively deal with the influence on the output noise of the system of ADRC.