The Optimization Design And Application Of ADRC Based On IGA

ADRC is developed from the idea of PID,but breaks the technologic limitation of PID.ADRC improves the adjustability of the control system by compensating the uncertain factors and disturbance of model.Thus,ADRC boasts robustness and anti-disturbance,and effectively controls many unmanageable models.However, ADRC parameters are numerous and hard to adjust.Therefore,this thesis combines the Immune Algorithm and Genetic Algorithm to construct ideal controller, overcoming such weakness of Genetic Algorithm as weak local searching ability and hasty decreasing individual variety,and taking advantage of the parallel searching ability to global search the parameters of ADRC.The present thesis consists of seven chapters with the fist an introduction and the last a conclusion.Is analysed the construction and the characteristics of ADRC, and the qualitative regularity of parameters setting.And then these are derived the regularity of respective Parameter Selecting Methods of TD,ESO AND NLSEF and the adjustment regularity of ADRC.Analysing the advantages and disadvantages of IA and GA,and then applies the IGA,the combination of IA and GA,to the optimizing setting of parameters in ADRC.Using the simulation study of application of optimized ADRC to typical time-varying system and Nonlinear System,and proves the validity and practicability of verification algorithm.And conducting the simulation and application study of applying the optimized ADRC to Linear Inverted Pendulum and PH neutralization process,and the result further proves the verification algorithm is valid.This thesis puts forward an optimization design of ADRC applying IGA to ADRC in parameter setting,global searing.The optimized ADRC is put into simulation and actual controlling of objects,and achieved comparatively ideal effect.