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一种自抗扰控制器参数的学习算法

DOI: 10.3724/SP.J.1004.2014.00556, PP. 556-560

Keywords: 自抗扰控制器,自动调整,控制参数,工业机电驱动器单元

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Abstract:

?针对自抗扰控制器(Automaticdisturbancerejectioncontroller,ADRC)参数多且耦合性强,参数难于被确定的问题,提出了一种ADRC参数的自动调整算法.该算法以构造的控制性能函数为学习目标,根据参数对性能指标的影响,通过惩罚函数在线不断更新参数在有界区间内的概率密度分布,使得控制参数最优值的概率密度值最大.通过开环不稳定系统算例和对工业机电驱动器单元(Industrialmechatronicdrivesunit,IMDU)的控制实验,仿真和实验结果证明了该算法的有效性.

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