自适应线性自抗扰控制器的设计

奚静思; 刘品宽

doi:10.3788/OPE.20182607.1749

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自适应线性自抗扰控制器的设计

微纳技术与精密机械 | 更新时间：2020-08-13

- 自适应线性自抗扰控制器的设计
- Design of an adaptive linear active disturbance rejection controller
- 光学精密工程 2018年26卷第7期页码：1749-1757
- 作者机构：
  
  上海交通大学机械与动力工程学院, 上海 200240
- 作者简介：
  
  [ "奚静思(1988-), 男, 河北昌黎人, 博士研究生, 2010年于上海交通大学获得学士学位, 主要从事精密定位和精密电机驱动方面的研究。E-mail:JonathanXee@vip.qq.com" ]
  [ "刘品宽(1969-), 男, 湖北天门人, 研究员, 博士生导师, 2003年于哈尔滨工业大学获得博士学位, 主要从事纳米级微定位技术、微操作机器人, 电子制造中的高速高精度定位与操纵, 以及纳米制造中的精密驱动与控制等方向的研究。E-mail:pkliu@sjtu.edu.cn" ]
- 基金信息：
  
  国家科技挑战计划资助项目(JCKY2016212A506-0105)
- DOI：10.3788/OPE.20182607.1749
  中图分类号： TP394.1;TH691.9
- 收稿日期：2018-03-06，
  
  录用日期：2018-4-16，
  
  纸质出版日期：2018-07-25
- 稿件说明：
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奚静思, 刘品宽. 自适应线性自抗扰控制器的设计[J]. 光学精密工程, 2018,26(7):1749-1757.

Jing-si XI, Pin-kuan LIU. Design of an adaptive linear active disturbance rejection controller[J]. Optics and precision engineering, 2018, 26(7): 1749-1757.
奚静思, 刘品宽. 自适应线性自抗扰控制器的设计[J]. 光学精密工程, 2018,26(7):1749-1757. DOI： 10.3788/OPE.20182607.1749.

Jing-si XI, Pin-kuan LIU. Design of an adaptive linear active disturbance rejection controller[J]. Optics and precision engineering, 2018, 26(7): 1749-1757. DOI： 10.3788/OPE.20182607.1749.

摘要

自抗扰控制器对于抑制不确定的扰动有良好的效果，但其控制器参数较多且整定困难。为了实现自适应的线性自抗扰控制器，对线性自抗扰控制器的参数整定策略展开了研究。首先，设计了基于观测误差的线性扩张观测器参数自适应整定算法。接着，设计了自抗扰控制器线性反馈环节的参数的自适应整定算法。最后，利用李雅普诺夫方法，证明上述自适应整定算法得到的参数可以保证扩张状态观测器的观测误差和被控系统最终输出误差都收敛至零。实验结果表明：精密气浮运动平台低速工况下，自适应线性自抗扰控制器的参数在0.8 s内即可迅速完成整定计算；线性扩张观测器观测误差绝对值小于2 nm；被控精密气浮运动平台的速度波动不大于5%。自适应线性自抗扰控制器实现了控制器参数在线整定，控制器的性能表现满足要求。

Abstract

An Active Disturbance Rejection Controller (ADRC) can suppress uncertain disturbances effectively; however

its parameter tuning is difficult. In order to develop an adaptive linear ADRC

the parameter tuning strategy of a linear ADRC was studied. First

an adaptive tuning algorithm based on observational errors was designed for a linear extended state observer. Then

an adaptive tuning algorithm for the parameters of the ADRC linear feedback component was designed. Finally

by using the Lyapunov method

it was proved that the parameters obtained by the above adaptive tuning algorithms ensure that both the observation errors of the extended state observer and the output errors of the controlled system converge to zero. Experimental results indicate that

under low velocity conditions

the parameters of the proposed linear ADRC can be quickly tuned within 0.8 s; the observational errors of the linear extended state observer are less than 2 nm

and the velocity fluctuations of the precision air-bearing platform are within 5%. The proposed adaptive linear ADRC performs online tuning of the controller parameters

and the controller performance is satisfactory.

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references

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