Application And Optimize Design Of Active Disturbance Rejection Controller

Active Disturbance Rejection Controller (ADRC) can effectively adjust uncertain factor and disturbance of the model by compensation. It can effectively control many unmanageable model and shows its robustness and anti-disturbance to us. An approach which exploit the Immune Genetic Algorithm (IGA) to optimize parameters of the ADRC in order to adjusting its over-abundant parameters are proposed in this paper. The IGA is show to be effective in overcoming the weakness of local search ability and individual diversity reducing in Genetic Algorithm (GA). Simulations on various plants and experiments on inverted pendulum and double T circuit verified the feasibility and validity of the algorithm.The main researches in this paper are:(1) The principle and characters of ADRC is introduced and some rules of parameter adjusting are summarized.(2) Immune Genetic Algorithm (IGA) and its use in the parameter optimizing of the ADRC is researched.(3) A simulation and experiment software in both VC and Matlab platform is designed, using this software can successfully finish the simulation and experiment on the optimized ADRC.(4) The optimized ADRC is used to control the time variable and nonlinear system, Simulation results prove the feasibility and validity of the algorithm.(5) Using the optimized ADRC and the software, experiments on inverted pendulum and double T circuit are performed, experimental results also prove the feasibility and validity of the algorithm.