Research And Application Of Unstable System Control Strategy Based On ADRC

The control of unstable systems plays an important role in the military and industrial development of a country,though the research of control algorithm of unstable system is very important.However,the common unstable system is vulnerable to damage due to its own unstable characteristics,so it is not suitable to directly verify the control algorithm on the platform.Therefore,the inverted pendulum control system with small volume and simple overall structure is adopted to explore the control algorithm of the unstable system.The traditional PID control strategy is usually adopted for the unstable system.Although the unstable controlled object can be controlled by the traditional PID controller,due to the unstable poles on the right side of the complex plane,the limited parameter selection of integer order,the control lag that is not easy to adjust and the inaccurate model extraction of the system,etc.Therefore,the traditional PID control strategy can not be used freely in the control of unstable system.Active Disturbance Rejection Control(ADRC)strategy has been widely used in control systems since it was proposed.Because of its own disturbance suppression characteristics and signal decoupling,the control effect of ADRC in various systems is relatively ideal.The main contents of this paper are as follows:(1)Firstly,the function and module analysis of the traditional integer order ADRC algorithm are carried out,and the function of each block is improved based on the analysis results.The design method and parameter setting process of the New ADRC algorithm are described in detail,and the simulation verification of the New ADRC under the action of different inputs and interference signals is carried out,which proves that the New ADRC has better performance than the traditional ADRC.(2)Secondly,based on the New ADRC algorithm,an new Fractional-Order ADRC algorithm is proposed.The fractional calculus operator is introduced into the tracking differentiator,the extended state observer and the nonlinear error feedback control law of the new integer order ADRC.Simulation experiment,the simulation results show that the new integer order ADRC and fractional order ADRC performance than the traditional integer order ADRC better performance,the performance of the two controllers is improved to a great extent,the Fractional-Order ADRC in overall design and application of the optimal performance.(3)Finally,a single stage rotating inverted pendulum system is used to verify the application of the proposed control algorithm.For the single-stage rotating inverted pendulum control system,the pendulum controller is designed firstly.Then the pendulum stabilization controller is designed.In this thesis,two independent closed-loop control structures are used to control the two angles.Three control strategies,the traditional ADRC algorithm,the new integer order ADRC algorithm and the fractional order ADRC algorithm,are used to conduct simulation experiments and compare the results.Finally,the controller is applied to a single stage rotary inverted pendulum platform.The experimental results show that the Fractional-Order ADRC controller has the best control performance in simulation and experiment.