线性自抗扰控制器的噪声抑制改进研究

针对线性自抗扰控制器对噪声敏感的问题，提出了一种基于预报线性跟踪微分器的噪声抑制自抗扰控制器。首先给出了基于预报思想的线性跟踪微分器的一般形式，并分析了其频域特性；然后以航空飞行器姿态控制为例，设计了二阶预报-跟踪微分自抗扰控制器，并利用控制器疲劳度(Weariness degree)的概念，分析了噪声抑制自抗扰控制器的对噪声的抑制特性及闭环控制频域特性；最后通过飞行器硬件在环仿真(Hardware-in-the-Loop Test)对将该方法与传统惯性滤波器、线性跟踪微分器进行对比。结果表明该方法能有效抑制噪声污染对线性自抗扰控制器闭环特性的影响，降低扩张状态观测器高增益带来的噪声放大问题，增强控制器的鲁棒性，并能降低滤波带来的相位延迟，具有工程实用性。

Improved Linear Active Disturbance Rejection Controller with Denoising Performance

Based on the predictor tracking differentiator, a special linear active disturbance rejection controller (LADRC) is proposed for a system subject to measurement noise. Firstly, the algorithm of the predictor tracking differentiator is given and analyzed with the frequency domain method. Secondly, a special LADRC law for vehicle attitude control is designed, the noise suppression ability of the proposed method is analyzed by weariness degree, and the closed loop frequency characteristic of the controller is studied. Lastly, the controller is tested and compared to the first order filter and normal linear tracking differentiator filter by the hardware-in-the-loop (HIL) test. The HIL test shows that the predictor tracking differentiator is able to filter out the measurement noise effectively, reduce the influence of the noise amplified by the extended state observer, and at the same time make a good balance between the noise filtering and the phase compensation. The improved LADRC law combined with the predictor tracking differentiator is more robust to measurement noise than the normal LADRC and has a good potential for engineering applications.