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自抗扰控制器以其不依赖于被控对象模型的优点,而广泛应用于工业控制领域。针对自抗扰控制器非线性组合部分参数较多且难以取得最优值的问题,提出一种自学习非线性PID抗扰控制方法。采用非线性PID自学习控制方法代替常规自抗扰控制器的非线性状态误差反馈控制律,实现参数的自整定。最后,通过仿真对比表明了自学习非线性PID抗扰控制方法的有效性和优越性。
The ADRC controller is widely used in the field of industrial control because of its advantages of not dependent on the controlled object model. Aiming at the problem that some parameters of the non-linear combination of ADRC are more difficult to obtain optimal value, a self-learning non-linear PID anti-interference control method is proposed. The non-linear PID self-learning control method is used to replace the nonlinear state error feedback control law of the conventional auto-disturbance rejection controller to realize the self-tuning of parameters. Finally, the simulation results show the effectiveness and superiority of the self-learning nonlinear PID immunity control method.