吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (1): 202-208.doi: 10.13229/j.cnki.jdxbgxb201501030

• Orignal Article • Previous Articles     Next Articles

Improve isolation degree based on adaptive active disturbance rejection controller

LI Xian-tao1,2, ZHANG Bao1,ZHAO Chun-lei1,SUN Jing-hui1, MAO Da-peng1, SHEN Hong-hai1   

  1. 1.Key Laboratory of Airborne Optical Imaging and Measurement, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Jilin Changchun, 130033,China;
    2. University of Chinese Academy of Sciences, Beijing 100039,China
  • Received:2013-05-12 Online:2015-02-01 Published:2015-02-01

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Abstract: In order to further improve the isolation degree of disturbance of traditional controller, a new active disturbance-rejection controller based on frequency adaptation of disturbance is proposed. It is verified in the linear inverted pendulum system. The results show that the controller can avoid phase lag when extended state observer observes the disturbance with the high-order form. It can also at least reduce the disturbance error by 7.85 dB compared with the state feedback controller when the perturbation frequency is between 0 Hz and 2 Hz. The proposed controller has strong robustness, allowing the range of system parameters to change within 15%.

Key words: automatic control technology, active disturbance rejection controller, lead link of frequency adaptive, extended state observer, phase delay, isolation degree of disturbance

CLC Number: 

  • TP273
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