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针对传统自抗扰控制器的扰动补偿效果随着扰动频率增加迅速下降的问题,提出了一种基于改进的线性扩张状态观测器的自抗扰控制方法。该方法首先对粗跟踪进行系统分析、简化及辨识;然后对线性扩张状态观测器的观测原理进行详细推导与论证,从理论上指出其不足,提出了一种改进的线性扩张状态观测器;最后将改进的算法与PID调节器相结合,实现了粗跟踪的自抗扰控制。实验结果表明:针对幅度在1°、频率在0.5~2.5 Hz间的外部位置扰动,传统的自抗扰控制器随着扰动频率的增加,扰动隔离度下降非常明显,2 Hz时的提升程度仅为0.5 Hz处的9.5%;而采用改进的算法使扰动隔离度至少提高了4.146 d B,且随着扰动频率的增加,扰动隔离度的提升非常稳定,2.5 Hz时的提升程度与0.5 Hz处几乎一致;此外,该方法有较好的鲁棒性,允许被控对象在20%的范围内变化。理论分析、仿真分析、物理实验均证明该方法的有效性,对类似的光电跟踪系统有一定的参考价值。
Aiming at the problem that the disturbance compensation effect of the traditional auto disturbance rejection controller declines rapidly with increasing disturbance frequency, an auto disturbance rejection control method based on the improved linear expansion state observer is proposed. Firstly, the method of rough tracking is systematically analyzed, simplified and identified. Then, the principle of linear expansion state observer is deduced and argued in detail. The deficiency is pointed out theoretically and an improved linear state of expansion observer is proposed. Finally, Combining the improved algorithm with the PID regulator, a coarse-tracking ADRC is achieved. The experimental results show that for the disturbance of external position at the amplitude of 1 ° and the frequency of 0.5 ~ 2.5 Hz, the disturbance rejection decreases obviously with the increase of the disturbance frequency, and the improvement degree at 2 Hz Which is 9.5% at 0.5 Hz. The improved algorithm improves the disturbance isolation by at least 4.146 d B, and with the increase of the disturbance frequency, the improvement of disturbance isolation is very stable. The improvement degree at 2.5 Hz is similar to that at 0.5 Hz Almost the same; In addition, the method has good robustness, allowing the controlled object in the range of 20% change. Theoretical analysis, simulation analysis and physical experiments prove the effectiveness of this method and have certain reference value for similar photoelectric tracking system.