摘要
从极点配置和根轨迹的角度研究了二阶线性定常对象的线性自抗扰控制.提出一个新传递函数框图.基于该框图,将线性自抗扰控制的参数整定解释为闭环极点配置问题,控制器带宽、观测器带宽等参数的整定被看作开环极、零点位置的选择.建议用根轨迹法研究线性自抗扰控制的鲁棒性.通过分析根轨迹定性说明了观测器带宽可以等于控制器带宽,以及线性自抗扰控制对被控对象参数变化的鲁棒性.
The linear active disturbance rejection control for the second order linear time invariant plant is investigated from the viewpoint of pole placement and root locus. A new transfer function block diagram is proposed. Based on the diagram, the parameter tuning of linear active disturbance rejection control is interpreted as a closed-loop pole placement problem, while tuning of controller bandwidth and observer bandwidth is viewed as open-loop poles and zeros assignment. It is proposed to investigate linear active disturbance rejection control with root locus. With analyzing root loci, it qualitatively illustrates the reason why the observer bandwidth can equal to the controller bandwidth and the the robustness of linear active disturbance rejection control subjects to the plant’s parametric uncertainty.
作者
金辉宇
张瑞青
王雷
高志强
JIN Hui-yu;ZHANG Rui-qing;WANG Lei;GAO Zhi-qiang(School of Aerospace Engineering,Xiamen University,Xiamen Fujian 361005,China;College of Mechanical Electrical Engineering,Hebei Agricultural University,Baoding Hebei 071001,China;Department of Mathematics,Tianjin University of Technology,Tianjin 300384,China;Center for Advanced Control Technologies,Cleveland State University,Cleveland,Ohio 44115,USA)
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2018年第11期1648-1653,共6页
Control Theory & Applications
基金
国家自然科学基金项目(61733017)
福建省自然科学基金项目(2016J01317)
国家留学基金项目(201606315084)资助~~
关键词
自抗扰控制
参数整定
极点配置
根轨迹
鲁棒性
linear active disturbance rejection control
parameter tuning
pole placement
robustness
root locus
