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首页> 外文期刊>Mathematical Problems in Engineering >An ADRC Method for Noncascaded Integral Systems Based on Algebraic Substitution Method and Its Structure
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An ADRC Method for Noncascaded Integral Systems Based on Algebraic Substitution Method and Its Structure

机译：基于代数代入法的非级联积分系统ADRC方法及其结构

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摘要

The Active Disturbance Rejection Control (ADRC) prefers the cascaded integral system for a convenient design or better control effect and takes it as a typical form. However, the state variables of practical system do not necessarily have a cascaded integral relationship. Therefore, this paper proposes an algebraic substitution method and its structure, which can convert a noncascaded integral system of PID control into a cascaded integral form. The adjusting parameters of the ADRC controller are also demonstrated. Meanwhile, a numerical example and the oscillation control of a flexible arm are demonstrated to show the conversion, controller design, and control effect. The converted system is proved to be more suitable for a direct ADRC control. In addition, for the numerical example, its control effect for the converted system is compared with a PID controller under different disturbances. The result shows that the converted system can achieve a better control effect under the ADRC than that of a PID. The theory is a guide before practice. This converting method not only solves the ADRC control problem of some noncascaded integral systems in theory and simulation but also expands the application scope of the ADRC method.
机译：主动干扰抑制控制（ADRC）首选级联积分系统，以实现方便的设计或更好的控制效果，并将其作为典型形式。但是，实际系统的状态变量不一定具有级联积分关系。因此，本文提出了一种代数替换方法及其结构，可以将PID控制的非级联积分系统转换为级联积分形式。还演示了ADRC控制器的调整参数。同时，通过数值示例和柔性臂的振动控制进行了演示，以显示转换，控制器设计和控制效果。事实证明，转换后的系统更适合直接进行ADRC控制。另外，在数值示例中，将其在不同干扰下与PID控制器的转换系统控制效果进行了比较。结果表明，与PID相比，ADRC转换后的系统可以获得更好的控制效果。该理论是实践之前的指导。这种转换方法不仅在理论和仿真上解决了一些非级联积分系统的ADRC控制问题，而且扩大了ADRC方法的应用范围。

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  • 来源
    《Mathematical Problems in Engineering》 |2018年第7期|3905879.1-3905879.10|共10页
  • 作者

    Huang Zhijian; Yi Yudong; Liu Yihua; Sui Wenbo; Zhang Guichen;

  • 作者单位

    Shanghai Maritime Univ, Lab Intelligent Control & Computat, Shanghai 201306, Peoples R China;

    Shanghai Maritime Univ, Lab Intelligent Control & Computat, Shanghai 201306, Peoples R China;

    Shanghai Maritime Univ, Lab Intelligent Control & Computat, Shanghai 201306, Peoples R China;

    Shanghai Maritime Univ, Lab Intelligent Control & Computat, Shanghai 201306, Peoples R China;

    Shanghai Maritime Univ, Lab Intelligent Control & Computat, Shanghai 201306, Peoples R China;

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