二阶系统线性自抗扰控制器频带特性与参数配置的研究.pdfVIP

30 12 Vol. 30 No. 12 2013 12 Control Theory Applications Dec. 2013 DOI: 10.7641/CTA.2013.30424 , , , (, 100072) : , , , ; , , . , , . : ; ; ; : TP13 : A Research on frequency-band characteristics and parameters configuration of linear active disturbance rejection control for second-order systems YUAN Dong , MA Xiao-jun, ZENG Qing-han, QIU Xiao-bo (Department of Control Engineering, Academy of Armored Force Engineering, Beijing 100072, China) Abstract: Starting with frequency domain analysis, the tracking ability of linear extended state observer (LESO) and the characteristics of linear active disturbance rejection control (LADRC), such as the stability, rejection quality for external disturbance, robustness for control input gain uncertainty and model uncertainty, as well as noise sensitivity characteristics, are analyzed based on the close-loop transfer function and frequency response. Then, the relationship between the dynamic characteristics and the controller parameters is discussed and the method of parameter selection is proposed. Finally, the method is applied to a weapon control system, and its effectiveness is validated. In addition, issues such as overshoot phenomenon, actuator saturation and the design of pre-filter are addressed, establishing both the conceptual and practical foundation for engineering design. Key words: linear active disturbance rejection control (LADRC); uncertainty; frequency-band characteristics; parame- ters configuration 1 (Introduction)