| 引用本文: | 高钦和,董家臣.扩张状态观测器的观测误差前馈补偿设计.[J].国防科技大学学报,2019,41(5):93-102.[点击复制] |
| GAO Qinhe,DONG Jiachen.Feedforward compensation design for observation error of extended state observer[J].Journal of National University of Defense Technology,2019,41(5):93-102[点击复制] |
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| 扩张状态观测器的观测误差前馈补偿设计 |
| 高钦和, 董家臣 |
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(火箭军工程大学 兵器发射理论与技术军队重点实验室， 陕西 西安 710025)
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| 摘要: |
| 在“总和”扰动模型未知的前提下，针对线性扩张状态观测器跟踪时变信号精度不高的问题，设计出一种前馈观测补偿器。在分析线性扩张状态观测器观测原理的基础上，通过对扰动项的线性近似、误差系统动态响应的忽略，在时域内推导出观测静差的量化表达式，进而使用扰动微分项的估计值替代真值对观测作前馈补偿。理论分析了替代的可行性，证明了补偿器减小观测误差幅值、超前校正观测相位滞后的作用。将这一补偿思想推广至非线性扩张状态观测器中。通过仿真对补偿器提高观测精度、加快误差收敛的有效性进行检验，实验结果进一步表明,补偿器的引入能显著提高整个自抗扰控制系统的控制精度，从而证明了这种补偿思路的可行性。 |
| 关键词: 扩张状态观测器 微分线性化 观测静差 前馈补偿 相位滞后 |
| DOI：10.11887/j.cn.201905014 |
| 投稿日期：2018-05-21 |
| 基金项目:国家自然科学基金资助项目（51475462） |
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| Feedforward compensation design for observation error of extended state observer |
| GAO Qinhe, DONG Jiachen |
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(Military Key Laboratory for Armament Launch Theory & Technology, Rocket Force University of Engineering, Xi′an 710025, China)
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| Abstract: |
| On the premise of unknown “total” disturbance model, aiming at tracking accuracy of time-varying signals for linear extended state observer, a feedforward observation compensator was designed. After analyzing the observation principle of linear extended state observer, by linearizing the disturbance and neglecting the dynamic response of the error system, the quantitative expression of the static observation error was derived in the time domain. Then by using the estimated value of the disturbance instead of the true value, the feedforward compensation for the observation was made. The feasibility of substitution was analyzed. The results proved that this compensator can reduce the amplitude of the observation error and has a certain pre-correction effect on the phase lag of the state observation. This compensation idea was then extended to the nonlinear extended state observer. The simulation validates the effectiveness of the compensator to improve the observation precision and speed up the convergence of the error. The experimental results further indicate that the introduction of the compensator can significantly improve the control precision of the whole active disturbance rejection control system. Thus the feasibility of this kind of compensation idea gets proved. |
| Keywords: extended state observer differential linearization static observation error feedforward compensation phase delay |
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