根据系统时间尺度整定自抗扰控制器参数-控制理论与应用.PDF

29 1 Vol. 29 No. 1 2012 1 Control Theory Applications Jan. 2012 :2012 , , , (1. 303, 710025; 2. 96111, 715400) : (ADRC), . ADRC. , , , . , (ESO), ADRC. , , ADRC . : ; ; : V233.7 : A Parameter-tuning in active disturbance rejection controller using time scale LI Shu-qing , ZHANG Sheng-xiu , LIU Yi-nan , ZHOU Shuai-wei (1. The Staff-Room 303, The Second Artillery Engineering College, Xi’an Shaanxi 710025, China; 2. The United 96111, People’s Liberation Army, Hancheng Shaanxi 715400, China) Abstract: In spite of the wide application of the active disturbance rejection controller (ADRC) with successful results, the parameter-tuning of this controller remains an unsolved problem. On the basis of the common definition of a time scale, we propose a computation rule for calculating the time scale of a 2nd-order system from the unit-step response. Under the assumption of the time-scale invariance for the controlled system with extended state-compensation, we develop a parameter-tuning method for the ADRC based on the time scale of the controlled system. Simulation results show the feasibility of the proposed method which provides the convenience to the parameter-tuning of ADRC. Key words: time scale; active disturbance rejection controller (ADRC); parameter-tuning 1 (Introduction) , . (ADRC) , ADRC , . , , , , , . ADRC