Auto-Disturbance Rejection Controllers And The Parameter Adjusting

The structure of tradition PID controller is simple.And the regulation of parameters is easy.As a result,traditional PID controller gets extensive application in the industry control. However,when the parameters of the controlled object mutate with large scope or the nonlinear effect shows saliently,it's application is limited.And the way of the linearity combination usually causes conflict between the system's speediness and the over adjust etc.According to the tradition controller's problems and the ideas of nonlinear PID,Han Jing Qing put forward the nonlinear PID controller and ADRC.The technique of ADRC is developed based on advanced modern control theories and technique.The complicated problem becomes simple with the technique of ADRC.Though ADRC controller shows strong robust character and adaptability,it still exist a lot of shortages,such as the frequency characteristic,stability...etc.Those weren't solved in the theories.And the most difficulty of ADRC's application in the industry is that the parameters are too more and the parameters' adjusting is difficulty.The engineers go short of the experience of the parameters' adjusting for the controller.This study main focuses on parameter adjusting.First,by means of a great deal of simulations,this paper gives comprehensive research about the parameters' adjusting for the controller.According to the "separation principle" it gives basic principle of the parameters' adjusting for the controller.With a three-rank controller as an example,gives a feasible adjusting method for nonlinear parameters,TD parameters,ESO parameters,as well as the parameters for nonlinear error feedback control rule.Secondly,because the quality of extend state observer influences directly ADRC controller's quality,so the design of extend state observer is very important in ADRC controller's design.Based on a kind of nonlinear auto disturbance rejection PI controller,take the nonlinear state observer with dynamic parameter adjusting into ADRC controller,then redesign ADRC controller,and put forward a kind of ADRC parameters adjusting method for the controller.It summarizes the regulations for adjusting ADRC controller parameters in order to solve the parameters' adjusting problem.Finally,bring forward ADRC controller based on DRNN and single nerve cell.The two kinds of methods can all adaptively adjust the parameters of nonlinear error feedback control rule NLSEF.The simulation results show the validity.