| 引用本文: | 周涛,吴雄林.基于参考模型的扰动观测器控制系统[J].控制理论与应用,2021,38(6):823~832.[点击复制] |
| ZHOU Tao,WU Xiong-lin.Reference model based disturbance observer control system[J].Control Theory and Technology,2021,38(6):823~832.[点击复制] |
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| 基于参考模型的扰动观测器控制系统 |
| Reference model based disturbance observer control system |
| 摘要点击 2137 全文点击 692 投稿时间：2019-08-21 修订日期：2020-11-26 |
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| DOI编号 10.7641/CTA.2020.90697 |
| 2021,38(6):823-832 |
| 中文关键词 参考模型 扰动观测器 线性自抗扰控制 稳定性 跟踪精度 |
| 英文关键词 reference model disturbance observer linear active disturbance rejection control stability tracking accuracy |
| 基金项目 国家自然科学基金项目(61273161), 河南省科技攻关项目(182102210435), 河南省高等学校重点科研项目(18A413008)资助. |
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| 中文摘要 |
| 为了补偿控制系统的未知动态和外部扰动, 论文提出一种基于参考模型的扰动观测器控制系统. 首先, 分
析了二阶理想参考模型控制系统的设计, 并通过闭环传递函数证明了参考模型控制系统的稳定性. 然后, 设计了二
阶系统扰动观测器和基于参考模型的扰动观测器控制律, 分析了二阶闭环控制误差系统收敛性. 并推广到n阶控制
系统, 证明了n阶闭环控制误差系统稳定性. 最后, 仿真实验结果表明, 与线性自抗扰控制(LADRC)系统相比, 基于
参考模型的扰动观测器控制系统阶跃响应的跟踪精度和抗扰性能明显优于LADRC系统, 扰动的估计精度高, 控制
输入量小于LADRC系统; 基于参考模型的扰动观测器控制系统正弦跟踪精度和扰动的估计精度也高于LADRC系
统. 该新型控制系统结构简单, 抗扰性能好, 控制效率高, 具有重要的工程应用价值. |
| 英文摘要 |
| A reference model based disturbance observer control system is presented in this paper in order to compensate
unknown dynamics and external disturbances of the control system. First, the second-order ideal reference model control
system is designed, and the stability of the reference model control system is proved via the closed-loop transfer function.
Then, the disturbance observer and reference model based disturbance observer control law of the second-order system are
designed, and the convergence of the second-order closed-loop control error system is analysed. Third, the novel control
method is extended to a general n-th order control system, and the stability of the n-th order closed-loop control error system
is proved. Finally, the results of simulation tests show that the step response tracking accuracy and rejecting disturbances
performance of the reference model based disturbance observer control system are much better than those of the linear
active disturbance rejection control (LADRC) system with higher disturbance estimation precision and smaller control input
values. The sine tracking accuracy and disturbance estimation precision of the reference model based disturbance observer
control system are still higher than those of the LADRC system. The novel control system has the simpler structure, better
disturbance rejection and higher control efficiency. It has important engineering application values. |
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