高阶不确定系统的线性串级自抗扰控制

作者：Li Xiang-Yang; Gao Zhi-Qiang; Tian Sen-Ping; Ai Wei^*

来源：Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2023, 40(5): 856-864.

DOI：10.7641/CTA.2022.11180

• active disturbance rejection control
• cascade active disturbance rejection control
• cascade control
• internal model control
• low-pass filter

Active disturbance rejection control(ADRC) is an advanced control technology, which is created by Chinese distinguished scholar, Jingqing Han. This paper presents a cascade ADRC (CADRC), one method aiming to simplify the parameter tuning when an ADRC is used in high-order controlled system. The CADRC divides the controlled system into two cascaded parts including a certain part and a low-order part with uncertainties. The certain part is in the inner loop of the cascade control system and the low-order part with uncertainties is in the outer loop. An internal model controller is used in the inner loop and the ADRC is used to control the outer loop with uncertainties. The controlled system in the outer loop by ADRC is an equivalent low-order system which can be tuned by the bandwidth method, and the internal model control (IMC) in the inner loop can be designed and tuned by the loop-shaping method. The simulation shows that the presented method is effective and has good engineering application prospect. ? 2023 South China University of Technology.

• 单位
  华南理工大学