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Tuning of Auto Disturbance Rejection Controller based on multi-objective Genetic Algorithm

机译：基于多目标遗传算法的自抗扰控制器的整定

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Conventional tuning approaches for Auto Disturbance Rejection Controller (ADRC) are basically trial ones. The procedure to adjust parameters is complicated and tedious and therefore is hard to achieve the expected goal. This paper proposed a three-step method based on the separation principle. First, the proper TD settings are verified through the step response. Then, the parameters of the ESO are designed. A NSGA-II was used to obtain the approximate parameters in line with observer to achieve a satisfied solution. Finally, the ADRC three modules were combined to decide NLSEF settings. This optimization problem with overshoot, settling time and control energy requirements used NSGA-II to obtain the approximate Pareto set of multi-objective optimization. The 2nd-order heading ADRC for a 150,000-ton tanker with steering gear was studied to verify the proposed method. The results show that it is simple and efficient, and therefore it should be very useful in engineering applications.
机译：自动干扰抑制控制器（ADRC）的常规调整方法基本上是试用方法。调整参数的过程既繁琐又繁琐，因此很难达到预期的目标。本文提出了一种基于分离原理的三步法。首先，通过阶跃响应来验证正确的TD设置。然后，设计了ESO的参数。使用NSGA-II来获得与观察者一致的近似参数，以获得满意的解决方案。最后，将ADRC的三个模块组合在一起以决定NLSEF设置。这个具有超调，建立时间和控制能量需求的优化问题使用NSGA-II来获得多目标优化的近似Pareto集。研究了15万吨带转向器油轮的二阶航向ADRC，以验证所提出的方法。结果表明，该方法简单有效，因此在工程应用中应该非常有用。

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