河南理工大学学报（自然科学版）2026，Vol.45Issue(3)：85-92,8.DOI:10.16186/j.cnki.1673-9787.2024110009
基于贝叶斯优化的二阶线性自抗扰控制参数整定
Parameter tuning of second-order linear active disturbance rejection control based on Bayesian optimization
摘要
Abstract
Objectives Linear Active Disturbance Rejection Control(LADRC)is a control method that has low dependence on the system model and shows promising application prospects in industrial processes.However,its parameter tuning is complicated,leading to high trial and error costs in industrial applica-tions.To address this issue,an engineering oriented parameter tuning method for LADRC is proposed.Methods First,by analyzing the equivalent structure of the second order LADRC,the equivalent relation-ship between LADRC parameters and PID parameters is established.Then,initial PID parameters are ob-tained through Bayesian optimization.Finally,the initial LADRC parameters are derived using the estab-lished equivalent relationship.Results Simulation experiments are carried out on several typical transfer functions in Simulink.The results show that for various types of controlled plants,the second order LADRC outperforms PID control in terms of stability and accuracy.Physical experiments are conducted using a PLC based temperature control system.The model of the controlled plant is identified,the initial PID param-eters are obtained via Bayesian optimization,and the LADRC controller is implemented in the PLC pro-gram.Then,both PID and LADRC control experiments are performed.The results indicate that in the tem-perature step response,the second order LADRC system achieves a settling time of approximately 80 sec-onds,an overshoot of about 2.3%,very small steady state error,and a good ITAE index.In contrast,the PID controller yields a settling time of about 95 seconds,an overshoot of about 1.6%,and a moderate ITAE index.Conclusions The proposed parameter initialization method based on Bayesian optimization en-sures the effectiveness of parameter transfer between different platforms,reduces tuning effort,and pro-vides a powerful parameter adjustment strategy for the widespread application of second order LADRC.关键词
参数整定/贝叶斯优化/线性自抗扰控制/PID控制/PLCKey words
parameter tuning/Bayesian optimization/linear active disturbance rejection control/PID con-trol/PLC分类
信息技术与安全科学引用本文复制引用
李壮举,王宁,张晓宇,魏伟..基于贝叶斯优化的二阶线性自抗扰控制参数整定[J].河南理工大学学报（自然科学版）,2026,45(3):85-92,8.基金项目
国家自然科学基金资助项目(62371032) （62371032）
