| 引用本文: | 陈志翔,高钦和.修改型扩张状态观测器:分析与实现[J].控制理论与应用,2018,35(8):1199~1206.[点击复制] |
| CHEN Zhi-xiang,GAO Qin-he.Modified extended state observer: analysis and implementation[J].Control Theory and Technology,2018,35(8):1199~1206.[点击复制] |
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| 修改型扩张状态观测器:分析与实现 |
| Modified extended state observer: analysis and implementation |
| 摘要点击 2367 全文点击 748 投稿时间：2017-09-27 修订日期：2018-03-04 |
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| DOI编号 10.7641/CTA.2018.70705 |
| 2018,35(8):1199-1206 |
| 中文关键词 自抗扰控制 修改型扩张状态观测器 系统辨识 最小二乘法 |
| 英文关键词 active disturbance rejection control modified extended state observer system identification least squares method |
| 基金项目 国家自然科学基金项目(51475462)资助. |
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| 中文摘要 |
| 利用系统已知信息构造的扩张状态观测器称之为修改型扩张状态观测器.本文完善了修改型扩张状态观测器的假设条件,并分析了相对于常规的扩张状态观测器,修改型扩张状态观测器估计精度更高的原因.针对系统模型参数不确定情况,提出了基于最小二乘法的修改型扩张状态观测器实现方法,并详细论述了最小二乘法在线辨识系统模型的原理.仿真结果与理论分析结果一致,验证了修改型扩张状态观测器理论分析的正确性和实现方法的可行性. |
| 英文摘要 |
| A state observer, constructed by the known information of the system, is called a modified extended state observer (MESO). Firstly, this paper improves the hypothesis of MESO and analyzes the reason that MESO has higher estimation accuracy than ESO. Secondly, in view of the uncertainty of the system parameters, we propose a modified extended state observer based on the least square method, and discuss the principle of online system identification via least square method in detail. Finally, the simulation results are consistent with the theoretical analysis results, and verify the correctness of the theoretical analysis and the feasibility of the implementation method of the modified extended state observer. |
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