具有输入约束和输出噪声的不确定系统级联线性自抗扰控制

高阳; 吴文海; 王子健

doi:10.16383/j.aas.c190305

具有输入约束和输出噪声的不确定系统级联线性自抗扰控制

doi: 10.16383/j.aas.c190305

1.
海军航空大学青岛校区控制工程与指挥系青岛 266041

基金项目: 国家自然科学基金(51505491, 60674090)资助

详细信息

作者简介:
高阳：海军航空大学青岛校区博士研究生. 2015年获空军勤务学院硕士学位. 主要研究方向为固定翼飞机飞行控制, 自抗扰控制理论与应用. 本文通信作者.E-mail: gy_hkdx@126.com

吴文海：海军航空大学青岛校区教授. 2004年获南京航空航天大学博士学位. 主要研究方向为综合飞行控制系统, 舰载机着舰引导控制, 现代战机攻击导引控制.E-mail: sophia_wxc@126.com

王子健：海军航空大学青岛校区讲师. 2012年获海军航空大学硕士学位. 主要研究方向为飞行控制与测试.E-mail: hkdx_2017@126.com

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出版历程
- 收稿日期: 2019-04-17
- 录用日期: 2019-07-30
- 网络出版日期: 2022-02-10
- 刊出日期: 2022-03-25

Cascaded Linear Active Disturbance Rejection Control for Uncertain Systems With Input Constraint and Output Noise

1.
Department of Control Engineering and Command, Qingdao Branch, Naval Aviation University, Qingdao 266041

Funds: Supperted by National Natural Science Foundation of China (51505491, 60674090)

More Information

Author Bio:
GAO Yang　Ph.D. candidate at Qingdao Branch, Naval Aviation University. He received his master degree from Air Force Logistics College in 2015. His research interest covers fixed-wing aircraft flight control, active disturbance rejection control theory and its application. Corresponding author of this paper

WU Wen-Hai　Professor at Qingdao Branch, Naval Aviation University. He received his Ph.D. degree from Nanjing University of Aeronautics and Astronautics in 2004. His research interest covers integrated flight control system, carrier landing guidance control of carrier-based aircraft, and attack guidance control of modern fighter

WANG Zi-Jian　Lecturer at Qingdao Branch, Naval Aviation University. He received his master degree from Naval Aviation University in 2012. His research interest covers flight control and test

摘要

摘要: 针对一类具有输入约束和输出噪声的SISO (Single input single output)不确定非线性系统, 提出了一种基于误差补偿和工程滤波的抗饱和级联线性自抗扰控制(Linear active disturbance rejection control, LADRC)方法. 首先针对高频量测噪声, 分析了线性扩张状态观测器(Linear extended state observer, LESO)对噪声的放大机理及其与观测器增益的定量关系, 进而设计了一种基于工程滤波器的级联LADRC方法, 在滤除噪声的同时有效补偿了因滤波所造成的输出幅值和相位损失, 确保了闭环系统的跟踪精度. 然后继续考虑输入饱和的问题, 利用LADRC的实时估计/补偿能力, 通过将饱和差值信号引入LESO, 设计了一种基于误差补偿的抗饱和LADRC方法, 有效减小了系统设计控制量, 避免了系统长时间陷入饱和. 通过实时仿真比较, 验证了所提出方法的有效性.
- 级联线性自抗扰控制 /
- 输入饱和约束 /
- 高频量测噪声 /
- 滤波器 /
- 抗饱和补偿
Abstract: For a class of SISO (single input single output) uncertain nonlinear systems with input constraint and output noise, an anti-saturation cascaded linear active disturbance rejection control (LADRC) method based on error compensation and engineering filtering is proposed. Firstly, aiming at high frequency measurement noise, the amplification mechanism of linear extended state observer (LESO) and its quantitative relationship with LESO gain are analyzed. On this basis, a cascaded LADRC scheme using engineering filter is designed to remove the noise while compensating for the amplitude and phase losses of system output caused by filtering, which ensures the tracking accuracy of closed-loop system. Then continuing to consider input saturation, using the real-time estimation/compensation capability of LADRC, the saturation difference signal is introduced into LESO, thus an anti-saturation LADRC scheme based on error compensation is designed, which effectively reduces the designed control variable and avoids the system falling into saturation for a long time. By real-time simulation comparison, the effectiveness of the proposed method is verified.
- Cascaded linear active disturbance rejection control /
- input saturation constraint /
- high frequency measurement noise /
- filter /
- anti-saturation compensation

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图 1 忽略量测噪声时的闭环系统响应

Fig. 1 Closed-loop system responses ignoring measurement noise

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图 2 考虑量测噪声时的闭环系统响应

Fig. 2 Closed-loop system responses considering measurement noise

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图 3 不同r值对系统控制性能的影响

Fig. 3 Effect on system control performance with different values of r

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图 4 加入滤波器对系统控制性能的影响

Fig. 4 Effect on system control performance adding filter

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图 5 基于LADRC的级联控制系统结构

Fig. 5 Structure of cascade control system based on LADRC

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图 6 基于CLADRC的闭环系统响应

Fig. 6 Closed-loop system responses based on CLADRC

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图 7 输入饱和约束下的CLADRC闭环系统响应

Fig. 7 Closed-loop system responses with input saturation based on CLADRC

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图 8 基于抗饱和CLADRC的闭环系统响应

Fig. 8 Closed-loop system responses based on anti-saturation CLADRC

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