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326Vol.32,No.6200511JournalofNorthChinaElectricPowerUniversityNov.,20052005-08-01.(1955),,.071003ESOTP13A1007-2691(2005)06-0009-05DynamicparametersettingandapplicationofactivedisturbancerejectioncontrollerYUXi-ning,ZHULi-ling(SchoolofControlScienceandEngineering,NorthChinaElectricPowerUniversity,Baoding071003,China)ThenonlinearExtendedStateObserver(ESO)isintroducedtoActiveDisturbanceRejectionController(ADRC).TheADRCisredesigned.AnewparameterssettingmethodforADRCissuggested.ThesettingruleofADRCisconcluded.Thesimulationonmainstreamtemperaturecontrolsystemshowsthevalidityofthisscheme.dynamicparameter;activedisturbancerejectioncontrol;mainsteamtemperature;robustness;anti-disturbanceADRCTDESONLSEF3123ADRCPIDPIDADRC1020051ESO=,,1++1f(x),w(t),u(t)x(t),,x(n1)(t)1x(t)x1=x(t),,xn=x(n1)(t),11=22=3=1,2,,++2[1]ESO11=21fal11fal112=32fal11fal11=+1fal11fal11+1=+1fal11fal113fal,,=sign,/1,,0ESOfalESOk1k2kn+1z1z2znzn+1x1x2xn+1=,,A=11002010001+1000A(3)k1k2kn+13Ap1p2pn+1k1k2kn+1==1+1sk1k2kn+1ESOk1=p1+p2+p3k2=p1×p2+p1×p3+p2×p3k3=p1×p2×p3k1k2kn+13,3(2)a(t)k1k2kn+1AESO22.11NLSEFTDNLSEFTDTDNLSEFESO1231001011221Fig.1BasicstructureofADRC6112.1.1TDv01+1=1+22+1=2sat4satsat,=sign/=101=02=2sign1081+0222+10,11v1(k)v2(k)21=02=0rv0(k)v1(k)v2(k)2.1.2ESO1=21fal11fal112=32fal11fal11+1=+1fal11fal115ESOz1,z2yz3,,12.1.3NLSEF1=112=221=1fal1,1,+2fal2,2,=13/06e1e2v1y{a1,a2,}12uz3/b0,,2.212TD,ESO,NLSEF3TDESONLSEFTDv0(k)hrTDv1(k)TDrrESOp1p2p3ESO32k1k2k3ESONLSEF1212PDPDPD2.3TDrrESO3k1k2k3k1k2k3k3ESOk3NLSEF112b0u3b0b0b0uESO2TDz3/b0122005b033.1300MW4462881001[2]11Tab.1DynamiccharacteristicsofsystemmodelW2(s)W1s446.6221+121.6639.5+14624.3519+121.8328.2+14882.0116+122.0922.3+141001.5814+122.4515.8+143.21212PIDADRCADRC2ADRC[3~5]ADRCADRC16262KP=4.03ADRCb0=30TDr=500ESO3k1=60,k2=1200k3=8000NLSEF21=0.000852=0.073.33.3.1ESO3ESO3623z1z2z33x1x2x33.3.244%~100,PID-PID[6]PIDPID624000s441000s622000s62883000s10042ADRCPID050010000.00.20.40.61105001000112235705006334203ESOFig.3TracingcurveofESOstate1000/s/s/sADRCP++2ADRCFig.2ADRCcascadedcontrolsystem3.3.3622000s1000s0.25ADRC5uu4ESO33[1],,,.PI[J].,2001,17(3):92-95.[2],,.PI[J].,2004,(3):37-40.[3],.[J].,1999,14(4):354-358.[4],,.[J].,2002,9(6):7-9.[5],,.ADRC[J].,2003,34(4):25-259[6],,,.PID[J].,2003,30(4):42-46.400030002000100000.00.40.81.2PID-PIDADRC44%62%88%100%/s4ADRCFig.4ResponsecurveofADRCtotalload3000100000.00.40.81.2PID/s5Fig.5Responsecurveofanti-disturbanceADRCPIDADRCADRCu61320059120051919