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为了改善扩张状态观测器(ESO)的估计效果及解决自抗扰控制中b_0参数的整定问题,提出了一种基于N4SID(numerical algorithms for subspace state space system identification)的线性自抗扰控制策略.使用N4SID子空间辨识方法对系统模型的未知参数及线性自抗扰控制(LADRC)中的b_0参数进行辨识,减少被控系统的不确定因素,从而提高了扩张状态观测器对系统广义扰动的估计能力.仿真结果表明,该方法有效地改善了LADRC的控制效果,提高了扩张状态观测器的估计能力.
In order to improve the estimation effect of extended state observer (ESO) and solve the tuning problem of b_0 parameter in ADRC, a linear ADRC control strategy based on NLSS (numerical algorithms for subspace state space system identification) N4SID subspace identification method to identify the unknown parameters of the system model and the b_0 parameter in LADRC to reduce the uncertainties of the controlled system and improve the ability of the extended state observer to estimate the system generalized disturbance The simulation results show that this method can effectively improve the control effect of LADRC and improve the estimation ability of the extended state observer.