自抗擾開關(guān)磁阻電機(jī)轉(zhuǎn)速控制器的快速參數(shù)整定方法

摘 要：線性自抗擾控制（LADRC）器設(shè)計(jì)簡(jiǎn)單且性能優(yōu)秀，但控制器參數(shù)的優(yōu)化設(shè)計(jì)過程比較復(fù)雜。針對(duì)此問題，提出一種LADRC的快速參數(shù)整定方法，以實(shí)現(xiàn)控制器參數(shù)的快速優(yōu)化設(shè)計(jì)。首先，建立并化簡(jiǎn)一階模型輔助LADRC系統(tǒng)的數(shù)學(xué)模型；其次，利用頻域特性分析方法詳細(xì)地分析控制器參數(shù)和控制系統(tǒng)關(guān)鍵性能的定性及定量關(guān)系，如系統(tǒng)的穩(wěn)定性、跟隨性能、抗干擾能力、噪聲抑制能力和對(duì)象參數(shù)魯棒性，并提出基于控制器性能優(yōu)化的快速參數(shù)整定方法。在此基礎(chǔ)上，以開關(guān)磁阻電機(jī)轉(zhuǎn)速控制器為研究對(duì)象，利用所提出的快速參數(shù)整定方法快速獲取控制器參數(shù)。實(shí)驗(yàn)結(jié)果證明所設(shè)計(jì)的控制器有較好的抗干擾能力和魯棒性，該方法對(duì)于LADRC有很好的工程實(shí)用價(jià)值。

關(guān)鍵詞：線性自抗擾控制；參數(shù)整定；頻域分析；魯棒性；轉(zhuǎn)速控制；開關(guān)磁阻電機(jī)

DOI：10.15938/j.emc.2024.11.011

中圖分類號(hào)：TM352

文獻(xiàn)標(biāo)志碼：A

文章編號(hào)：1007-449X（2024）11-0117-10

Rapid parameter tuning method of LADRC applied in switched reluctance motor speed regulation

LI Yiqian， MA Qishuang， XU Ping

（School of Automation Science and Electrical Engineering， Beihang University， Beijing 100191， China）

Abstract：Linear active disturbance rejection control （LADRC） possesses the unique advantage of simplified controller design and excellent performance， but the relationship between controller parameters and system performance is very complex. A rapid parameter tuning method for LADRC was proposed to realize quick design of the controller parameters based on performance optimization of the control system. Firstly， model of a first-order model-assisted LADRC system was built up and simplified. Detailed parametric analysis in frequency domain was then implemented to discuss main features of the system including stability， following performance， anti-disturbance ability， noise reduction ability and robustness. Furthermore， the proposed rapid parameter tuning method was introduced and the controller parameters in speed regulation of a switched reluctance motor control system were obtained rapidly， which were verified to be reasonable by later experiments. The proposed method is proved to be effective in practical disturbance rejection and robustness on the plant characteristics. The work is helpful to promote the engineering application of LADRC.

Keywords：linear active disturbance rejection control; parameter tuning; frequency domain analysis; robustness; speed control; switched reluctance motor

0 引 言

自抗擾控制（active disturbance rejection control，ADRC）采用主動(dòng)抗擾的控制策略，其核心思想是將控制系統(tǒng)內(nèi)外的所有不確定性干擾和動(dòng)態(tài)過程視為系統(tǒng)的一個(gè)擴(kuò)張狀態(tài)，并在控制律中對(duì)其進(jìn)行補(bǔ)償^[1]。隨著相關(guān)理論的逐漸成熟，ADRC已成功應(yīng)用于各種領(lǐng)域并表現(xiàn)出優(yōu)異的性能^[2-]。但 ADRC仍存在一個(gè)不可忽視的問題，即控制器的參數(shù)設(shè)計(jì)過程非常復(fù)雜。其中，線性自抗擾控制（linear active disturbance rejection control，LADRC）的參數(shù)整定問題相對(duì)簡(jiǎn)單且易于數(shù)字化實(shí)現(xiàn)^[4]，因此LADRC在工程實(shí)踐中獲得了越來(lái)越多的應(yīng)用。

目前，LADRC已被用于解決電機(jī)控制領(lǐng)域的各種問題^[5-7]，其控制器的參數(shù)整定是控制系統(tǒng)性能優(yōu)化的必要且關(guān)鍵環(huán)節(jié)。……