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摘要: 研究一类一阶非线性对象的自抗扰控制器的设计与参数整定规则.首先简化跟踪微分 器和非线性组合的设计,然后根据二阶扩张状态观测器的观测误差分析,通过理论推导和仿真实 验得出控制器的参数整定规则,并以一个具有可调零点的多变量对象为仿真实例,证实了整定规 则的有效性.
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关键词:
- 非线性对象 /
- 自抗扰控制器 /
- 整定规则 /
- 具有可调零点的多变量对象
Abstract: Design and adjusting rule of auto-disturbance-rejection controller are proposed for a class of first order nonlinear plants. Tracking differentiator and nonlinear combination are simplified According to the analysis of observing error of a secould order extended state observer, an empirical tuning rule is proposed based on theoretic deduction and simulations. Simulations on a multivariable plant with adjustable zeros demonstrate validity of the tuning rule. -
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