线性自抗扰控制器的噪声抑制改进研究
|
摘要
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。
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.
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.
引文
[1]韩京清.自抗扰控制器及其应用[J].控制与决策,1998,13(1):19-23.[Han Jin-qing.Auto-disturbances-rejection Controller and its applications[J].Control and Decision,1998,13(1):19-23.]
[2]韩京清.自抗扰控制技术-估计补偿不确定因素的控制技术[M].国防工业出版社,2008.
[3]Gao Z Q.Scaling and bandwidth-parameterization based controller tuning[C].The 29th American Control Conference Denver,USA,June 4-6,2003.
[4]Guo B Z,Zhao Z L.On convergence of tracking differentiator[J].International Journal of Control,84(4):693-701.
[5]Guo B Z,Zhao Z L.Active disturbance rejection controlTheoretical perspectives[J].Communications in information and systems,2015,15(3):361-421.
[6]孙明玮,马顺健,朴敏楠,等.高超声速飞行器自抗扰控制方法[M].北京:科学出版社,2017.
[7]Sun M W,Chen Z Q,Yuan Z Z.A practical solution to some problems in flight control[C].Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference,Shanghai,China,December 16-18,2009.
[8]杨瑞光.线性自抗扰若干问题研究[D].南开大学,2011.[Yang Rui-guang.Study on linear active disturbance rejection control[D].Nankai University,2011.]
[9]赵坤,曹登庆,黄文虎.基于自抗扰控制的弹头制导与控制一体化设计[J].宇航学报,2017,38(10):1068-1078.[Zhao Kun,Cao Deng-qing,Huang Wen-hu.Integrated guidance and control design for reentry warhead based on ADRC[J].Journal of Astronautics,2017,38(10):1068-1078.]
[10]聂文明,李惠峰.固体导弹助推段自抗扰制导控制一体化设计方法[J].宇航学报,2017,38(11):1177-1185.[Nie Wen-ming,Li Hui-feng.An active disturbance rejection design method for ascent integrated guidance and control of solid missiles[J].Journal of Astronautics,2017,38(11):1177-1185.]
[11]杨茗棋,胡敏,杨雅君,等.基于电磁力的集群航天器构形维持自抗扰控制[J].宇航学报,2017,38(11):1204-1211.[Yang Min-qi,Hu Min,Yang Ya-jun,et al.Active disturbance rejection control for configuration maintenance of electromagnetically controlled spacecraft cluster[J].Journal of Astronautics,2017,38(11):1204-1211.]
[12]黄朝东,王劲松.量测噪声存在时的自抗扰控制分析[J].电光与控制,2013,20(7):73-76.[Huang Chao-dong,Wang Jin-song.Analysis of ADRC in the present of measurement noise[J].Electronics Optics&Control,2013,20(7):73-76.]
[13]林飞,孙湖,郑琼林,等.用于带有量测噪声系统的新型扩展状态观测器[J].控制理论与应用,2005,22:995-998.[Lin Fei,Sun Hu,Zheng Qiong-lin,et al.Novel extended state observer for uncertain system with measurement noise[J].Control Theory&Applications,2005,22:995-998.]
[14]Lei Z L,Guo C.Noise suppression by ADRC for ship positioning and heading control[C].The 32nd Chinese Control Conference,Xi’an,China,July 26-28,2013.
[15]Cheng Y,Chen Z Q,Sun M W,et al.Cascade active disturbance rejection control of a high-purity distillation column with measurement noise[J].Industrial&Engineering Chemistry Research,2018,57(13):105-110.
[16]Patel N,Edwards C,Spurgeon S K.An analysis of two nonlinear observers in the presence of noise[C].2008 American Control Conference,Washington,USA,June 11-13,2008.
[17]BallA A,Khalil H K.High-gain-observer tracking performance in the presence of measurement noise[C].2009 American Control Conference,MO,USA,June 10-12,2009.
[18]Ahrens J H,Khalil H K.High-gain observers in the presence of measurement noise:a switched-gain approach[J].Autom-atica,2009,45:936-943.
[19]Khalil H K.Analysis of sampled-data high-gain observers in the presence of measurement noise[J].European Journal of Control,2009,2:166-176.
[2]韩京清.自抗扰控制技术-估计补偿不确定因素的控制技术[M].国防工业出版社,2008.
[3]Gao Z Q.Scaling and bandwidth-parameterization based controller tuning[C].The 29th American Control Conference Denver,USA,June 4-6,2003.
[4]Guo B Z,Zhao Z L.On convergence of tracking differentiator[J].International Journal of Control,84(4):693-701.
[5]Guo B Z,Zhao Z L.Active disturbance rejection controlTheoretical perspectives[J].Communications in information and systems,2015,15(3):361-421.
[6]孙明玮,马顺健,朴敏楠,等.高超声速飞行器自抗扰控制方法[M].北京:科学出版社,2017.
[7]Sun M W,Chen Z Q,Yuan Z Z.A practical solution to some problems in flight control[C].Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference,Shanghai,China,December 16-18,2009.
[8]杨瑞光.线性自抗扰若干问题研究[D].南开大学,2011.[Yang Rui-guang.Study on linear active disturbance rejection control[D].Nankai University,2011.]
[9]赵坤,曹登庆,黄文虎.基于自抗扰控制的弹头制导与控制一体化设计[J].宇航学报,2017,38(10):1068-1078.[Zhao Kun,Cao Deng-qing,Huang Wen-hu.Integrated guidance and control design for reentry warhead based on ADRC[J].Journal of Astronautics,2017,38(10):1068-1078.]
[10]聂文明,李惠峰.固体导弹助推段自抗扰制导控制一体化设计方法[J].宇航学报,2017,38(11):1177-1185.[Nie Wen-ming,Li Hui-feng.An active disturbance rejection design method for ascent integrated guidance and control of solid missiles[J].Journal of Astronautics,2017,38(11):1177-1185.]
[11]杨茗棋,胡敏,杨雅君,等.基于电磁力的集群航天器构形维持自抗扰控制[J].宇航学报,2017,38(11):1204-1211.[Yang Min-qi,Hu Min,Yang Ya-jun,et al.Active disturbance rejection control for configuration maintenance of electromagnetically controlled spacecraft cluster[J].Journal of Astronautics,2017,38(11):1204-1211.]
[12]黄朝东,王劲松.量测噪声存在时的自抗扰控制分析[J].电光与控制,2013,20(7):73-76.[Huang Chao-dong,Wang Jin-song.Analysis of ADRC in the present of measurement noise[J].Electronics Optics&Control,2013,20(7):73-76.]
[13]林飞,孙湖,郑琼林,等.用于带有量测噪声系统的新型扩展状态观测器[J].控制理论与应用,2005,22:995-998.[Lin Fei,Sun Hu,Zheng Qiong-lin,et al.Novel extended state observer for uncertain system with measurement noise[J].Control Theory&Applications,2005,22:995-998.]
[14]Lei Z L,Guo C.Noise suppression by ADRC for ship positioning and heading control[C].The 32nd Chinese Control Conference,Xi’an,China,July 26-28,2013.
[15]Cheng Y,Chen Z Q,Sun M W,et al.Cascade active disturbance rejection control of a high-purity distillation column with measurement noise[J].Industrial&Engineering Chemistry Research,2018,57(13):105-110.
[16]Patel N,Edwards C,Spurgeon S K.An analysis of two nonlinear observers in the presence of noise[C].2008 American Control Conference,Washington,USA,June 11-13,2008.
[17]BallA A,Khalil H K.High-gain-observer tracking performance in the presence of measurement noise[C].2009 American Control Conference,MO,USA,June 10-12,2009.
[18]Ahrens J H,Khalil H K.High-gain observers in the presence of measurement noise:a switched-gain approach[J].Autom-atica,2009,45:936-943.
[19]Khalil H K.Analysis of sampled-data high-gain observers in the presence of measurement noise[J].European Journal of Control,2009,2:166-176.