自抗扰控制器的simulink建模与仿真

TechniquesofAutomation&Applications|1ControlTheoryandApplicationssimulink*,,,(,071002):,simulinksimulink,,,,:;simulink;;:TP391:A:1003-7241(2010)02-0001-05ModelingandSimulationofActiveDisturbancesRejectionControllerBasedonSimulinkJIANGPing,HAOJing-yu,ZONGXiao-ping,WANGPei-guang(DeptofControlTheoryandControlEngineering,CollegeofElectronicandInformationalEngineering,HebeiUniversity,Baoding071002China)Abstract:ThewayofmodelingandsimulationofActiveDisturbancesRejectionControllerbasedonSimulinktheprocessofmaskingsubsystemandbuildingusercustomlibraryisdiscussedthroughstudyingthebasicprincipleandstructureofActiveDisturbancesRejectionController(ADRC).MaskingADRCbasedonSimulinkandbuildingusercustomlibrarycanreducetheprogrammingworkload,andsimplifycomplexblocksgroup.Thesimulationexampleprovesthatthewayispracticalandvalidity.Keywords:ActiveDisturbancesRejectionController;simulink;maskingsubsystem;usercustomlibrary1PID,,,,PID[1-3],PID,,simulink,,simulinksimulink,,[4],,,simulink,,,22.1PID,2|TechniquesofAutomation&ApplicationsPID[5][6][7]:,;,,,;,,,2.2,:⎪⎪⎪⎪⎪⎪⎪⎩⎪⎪⎪⎪⎪⎪⎪⎨⎧-=-=-=-=-+=+-+=-+===-=+=+=-=0301210222111103330023220121111222110201)(),,,(,)()()(),25.0,(),,5.0,(,),,,(bzuuhrceefhanuzvezvefehzzubfezhzzezhzzhefalfehefalfeyzehfhvvhvvvhrvvvfhanfhbbb(1)),,(dxfala12(,,,)fhanxxrhControlTheoryandApplications1:⎪⎩⎪⎨⎧≤=-dxxsignxdxdxdxfal),(,/),,(1aaa(2)⎪⎪⎪⎪⎪⎩⎪⎪⎪⎪⎪⎨⎧---=--+=+-+=--+=-+=+=+===)())((2))()(()(2))()((2)()()8(,,220102101202arsignsasigndarfhandasigndasignsasayaadysigndysignsdaysignaayddaaxyhxarhdaayy(3)010302010,,,,,,,bhrcrbbb,0r,,,;030201,bbb;,r,c,1h0b3simulink,simulinkSimulinkEditMask,,,[8],3.1,simulink,,,:⎪⎪⎪⎪⎩⎪⎪⎪⎪⎨⎧-+=+-+=-+===-=)()()(),25.0,(),5.0,(103330023220121111fehzzubfezhzzezhzzhefalfehefalfeyzebbbTechniquesofAutomation&Applications|3ControlTheoryandApplicationssimulink,2(a),),,(dxfalaM,MATLABFUNCTION[9-10]M,,:(1),,EditEditMask,MaskeditotParameterParameterh,bt01,bt02,bt03b0,edit,,,,,(2)Docu-mentation,Masktype,MaskdiscriptionMaskhelp(3),simulink,Simulink,IconDrawingcommandsMATLABDrawingcommandsdisp(ESO),ESO(ExtendedStateObserver),2(b)ue,z1z2z3,2(c),,,3.2matlab,simulink,LibraryBrowser(),,,simulink,simulink,Library,,,2(a)2(b)2(c)4|TechniquesofAutomation&ApplicationsControlTheoryandApplicationssimulinkLibraryBrowser,slblocks.m,slblocks.m,,Simulink,,,BrowserBlocksetStruct,matlab,,simulinkADRC,,,,3,ADRCLibrary4simulink:⎪⎩⎪⎨⎧=++==121221)(),,(xybutwtxxfxxx&&bb=1.0,12111222(,,)cos()cos()()fxxttxtxtgwgww=++,()0.5(sin())tsigntww=0.121==gg,6.01=w,7.02=w,w=1.0;v0=1,;,1000,300,100,0.20302010====bbbr03.0,3.0,51===hcr,,456:345,;6z3))(,,(21twtxxf,,,,5,simulink,simulink,5688|TechniquesofAutomation&ApplicationsControlTheoryandApplicationsMatlabMPCToolboxMPC[6],Simulink2AC_Parameter,AC_Plant,PMV,ACMPCController,3,,,,,,,,20.4m/s;0.3m/s,,3;,,,1026;,,3,PMV,,5PMVPMV,,,:[1],,.:[C].1998(),1998:387-391.[2].PMV(D).,,2004:7-9.[3],.Fanger[J].,1989,10(2):96-101.[4].PMV[J].,2005,27(3):15.[5].[M].:,2001.[6].MATLAB[M].:,2006.[7].[M].:,1991.[8],.[M].:,1994.[9],.[J].,2000(9):57-60.[10].GB/T50314-2000[S].:,2000(10).4:[1].PID[J].,2002,9(3):17-18.[2].[J].,1998,13(1):19-23.[3],,.[J].,2008,24(4):27-30.[4],,.SIMULINK[J].:,2007,25(6):733-734.[5],.-[J].,1997,19(3):268-273.[6],.[J].,2000,15(1):122-124[7]._NLPID[J].,1994,9(6):401-406.[8],,.SIMULINK[M].:,2004:224-228.[9],.SIMULINK[J].,2004,16(3):488-491.[10],,.SIMULINK[J].(),2001,15(3):29-33.