| 引用本文: | 金辉宇,张瑞青,王雷,高志强.线性自抗扰控制参数整定鲁棒性的根轨迹分析[J].控制理论与应用,2018,35(11):1648~1653.[点击复制] |
| JIN Hui-yu,ZHANG Rui-qing,WANG Lei,GAO Zhi-qiang.Root locus analysis on parameter tuning robustness of linear active disturbance rejection control[J].Control Theory and Technology,2018,35(11):1648~1653.[点击复制] |
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| 线性自抗扰控制参数整定鲁棒性的根轨迹分析 |
| Root locus analysis on parameter tuning robustness of linear active disturbance rejection control |
| 摘要点击 2433 全文点击 1235 投稿时间：2017-10-25 修订日期：2018-02-12 |
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| DOI编号 10.7641/CTA.2018.70775 |
| 2018,35(11):1648-1653 |
| 中文关键词 自抗扰控制 参数整定 极点配置 根轨迹 鲁棒性 |
| 英文关键词 linear active disturbance rejection control parameter tuning pole placement robustness root locus |
| 基金项目 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. |
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| 中文摘要 |
| 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. |
| 英文摘要 |
| 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. |