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A parameter formula connecting PID and ADRC
Science China Information Sciences ( IF 8.8 ) Pub Date : 2020-07-24 , DOI: 10.1007/s11432-019-2712-7
Sheng Zhong , Yi Huang , Lei Guo

This paper presents a parameter formula connecting the well-known proportional-integral-derivative (PID) control and the active disturbance rejection control (ADRC). On the one hand, this formula gives a quantitative lower bound to the bandwidth of the extended state observer (ESO) used in ADRC, implying that the ESO is not necessarily of high gain. On the other hand, enlightened by the design of ADRC, a new PID tuning rule is provided, which can guarantee both strong robustness and nice tracking performance of the closed-loop systems under the PID control. Moreover, it is proved that the ESO can be rewritten as a suitable linear combination of the three terms in PID, which can give a better estimate for the system uncertainty than the single integral term in the PID controller. Theoretical results are verified also by simulations in the paper.



中文翻译:

连接PID和ADRC的参数公式

本文提出了一种参数公式,该公式将众所周知的比例积分微分(PID)控制和有源干扰抑制控制(ADRC)连接起来。一方面,该公式给出了ADRC中使用的扩展状态观察器(ESO)带宽的定量下界,这意味着ESO不一定具有高增益。另一方面,在ADRC设计的启发下,提供了一种新的PID调节规则,该规则可以保证PID控制下闭环系统的强大鲁棒性和良好的跟踪性能。此外,事实证明,ESO可以重写为PID中三个项的合适线性组合,与PID控制器中的单个积分项相比,它可以更好地估计系统不确定性。理论结果也通过仿真验证。

更新日期:2020-07-29
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