引用本文:袁东,马晓军,曾庆含,邱晓波.二阶系统线性自抗扰控制器频带特性与参数配置研究[J].控制理论与应用,2013,30(12):1630~1640.[点击复制]
YUAN Dong,MA Xiao-jun,ZENG Qing-han,QIU Xiao-bo.Research on frequency-band characteristics and parameters configuration of linear active disturbance rejection control for second-order systems[J].Control Theory and Technology,2013,30(12):1630~1640.[点击复制]
二阶系统线性自抗扰控制器频带特性与参数配置研究
Research on frequency-band characteristics and parameters configuration of linear active disturbance rejection control for second-order systems
摘要点击 4148  全文点击 3765  投稿时间：2013-05-03  修订日期：2013-11-14
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DOI编号  10.7641/CTA.2013.30424
  2013,30(12):1630-1640
中文关键词  线性自抗扰控制  不确定性  频带特性  参数配置
英文关键词  linear active disturbance rejection control (LADRC)  uncertainty  frequency-band characteristics  parameters configuration
基金项目  国防“十二五”预研资助项目(40401020103, 40405070201); 军队重点科研资助项目(2011ZB06).
作者单位E-mail
袁东* 装甲兵工程学院控制工程系 yuan_dong2005@163.com 
马晓军 装甲兵工程学院控制工程系  
曾庆含 装甲兵工程学院控制工程系  
邱晓波 装甲兵工程学院控制工程系  
中文摘要
      本文从频域分析方法入手, 基于线性自抗扰控制器的闭环传递函数和频带特性曲线, 系统地分析了扩张状态观测器的跟踪估计能力和自抗扰控制器的稳定性、对外部扰动的抑制能力、对控制输入增益不确定性和模型参数不确定性的鲁棒性及其噪声传递特性, 探讨了系统动态特性与控制参数的关系; 在此基础上提出了控制参数的工程配置方法, 最后将其应用于某高精度武器控制系统, 验证该方法的有效性. 此外, 本文还分析了自抗扰控制器工程应用中的超调现象、控制量深度饱和以及前置滤波器设计等问题, 为工程设计提供理论依据和实践参考.
英文摘要
      Starting with frequency domain analysis, the tracking ability of linear extended state observer (LESO) and the characteristics of linear active disturbance rejection control (LADRC), such as the stability, rejection quality for external disturbance, robustness for control input gain uncertainty and model uncertainty, as well as noise sensitivity characteristics, are analyzed based on the close-loop transfer function and frequency response. Then, the relationship between the dynamic characteristics and the controller parameters is discussed and the method of parameter selection is proposed. Finally, the method is applied in a weapon control system, and its effectiveness is validated. In addition, issues such as overshoot phenomenon, actuator saturation and the design of pre-filter are addressed, establishing both the conceptual and practical foundation for engineering design.