线性自抗扰控制参数整定鲁棒性的根轨迹分析
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摘要
从极点配置和根轨迹的角度研究了二阶线性定常对象的线性自抗扰控制.提出一个新传递函数框图.基于该框图,将线性自抗扰控制的参数整定解释为闭环极点配置问题,控制器带宽、观测器带宽等参数的整定被看作开环极、零点位置的选择.建议用根轨迹法研究线性自抗扰控制的鲁棒性.通过分析根轨迹定性说明了观测器带宽可以等于控制器带宽,以及线性自抗扰控制对被控对象参数变化的鲁棒性.
The linear active disturbance rejection control for the second order linear time invariant plant is investigated from the viewpoint of pole placement and root locus. A new transfer function block diagram is proposed. Based on the diagram, the parameter tuning of linear active disturbance rejection control is interpreted as a closed-loop pole placement problem, while tuning of controller bandwidth and observer bandwidth is viewed as open-loop poles and zeros assignment.It is proposed to investigate linear active disturbance rejection control with root locus. With analyzing root loci, it qualitatively illustrates the reason why the observer bandwidth can equal to the controller bandwidth and the the robustness of linear active disturbance rejection control subjects to the plant's parametric uncertainty.
The linear active disturbance rejection control for the second order linear time invariant plant is investigated from the viewpoint of pole placement and root locus. A new transfer function block diagram is proposed. Based on the diagram, the parameter tuning of linear active disturbance rejection control is interpreted as a closed-loop pole placement problem, while tuning of controller bandwidth and observer bandwidth is viewed as open-loop poles and zeros assignment.It is proposed to investigate linear active disturbance rejection control with root locus. With analyzing root loci, it qualitatively illustrates the reason why the observer bandwidth can equal to the controller bandwidth and the the robustness of linear active disturbance rejection control subjects to the plant's parametric uncertainty.
引文
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[10]TAN W,FU C.Linear active disturbance-rejection control:analysis and tuning via IMC[J].IEEE Transactions on Industrial Electronics2016,63(4):2350-2359.
[11]XUE W,BAI W,YANG S,et al.ADRC with adaptive extended state observer and its application to airfuel ratio control in gasoline engines[J].IEEE Transactions on Industrial Electronics,2015,62(9):5847-5857.
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[13]ZHENG Q,GAO Z.Active disturbance rejection control:between the formulation in time and the understanding in frequency[J].Control Theory and Technology,2016,14(3):250-259.
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[15]FRANKLIN G F,POWELL J D,EMAMI-NAEINI A.Feedback Control of Dynamic Systems[M].4th Edition.Upper Saddle River,NJ,USA:Prentice-Hall,2002.
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[17]TATSUMI J,GAO Z.On the enhanced ADRC design with a low observer bandwidth[C]//Proceedings of the 32nd Chinese Control Conference.Xi’an:IEEE,2013:297-302.
[2]HAN Jingqing.Active Disturbance Rejection Control Technique-the Technique for Estimating and Compensating the Uncertainties[M]Beijing:National Defense Industry Press,2008.(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]北京:国防工业出版社,2008.)
[3]HAN J.From PID to active disturbance rejection control[J].IEEETransactions on Industrial Electronics,2009,56(3):900-906.
[4]XIA Yuanqing,FU Mengyin,DENG Zhihong,et al.Recent developments in sliding mode control and active disturbance rejection control[J].Control Theory&Applications,2013,30(2):137-147.(夏元清,付梦印,邓志红,等.滑模控制和自抗扰控制的研究进展[J].控制理论与应用,2013,30(2):137-147.)
[5]HUNG Y,XUE W.Active disturbance rejection control:methodology and theoretical analysis[J].ISA Transactions,2014,53(4):963-976.
[6]LI Jie,QI Xiaohui,WAN Hui,et al.Active disturbance rejection control:theoretical results summary and future researches[J].Contro Theory&Applications,2017,34(3):281-295.(李杰,齐晓慧,万慧,等.自抗扰控制:研究成果总结与展望[J].控制理论与应用,2017,34(3):281-295.)
[7]GAO Z.Scaling and bandwidth-parameterization based controller tuning[C]//Proceedings of the American Control Conference.Denver,Colorado,USA:IEEE,2003.4989-4996.
[8]YUAN Dong,MA Xiaojun,ZENG Qinghan,et al.Research on frequency-band characteristics and parameters configuration of lin-ear active disturbance rejection control of second-order systems[J].Contro Theory&Applications,2013,30(12):1630-1640.(袁东,马晓军,曾庆含,等.二阶系统线性自抗扰控制器频带特性与参数配置研究[J].控制理论与应用,2013,30(12):1630-1640.)
[9]ZHANG Chao,ZHU Jihong,GAO Yakui.Order and parameter selections for active disturbance rejection controller[J].Control Theory&Applications,2014,31(11):1480-1485.(张超,朱继洪,高亚奎.自抗扰控制器的阶次与参数的选取[J].控制理论与应用,2014,31(11):1480-1485.)
[10]TAN W,FU C.Linear active disturbance-rejection control:analysis and tuning via IMC[J].IEEE Transactions on Industrial Electronics2016,63(4):2350-2359.
[11]XUE W,BAI W,YANG S,et al.ADRC with adaptive extended state observer and its application to airfuel ratio control in gasoline engines[J].IEEE Transactions on Industrial Electronics,2015,62(9):5847-5857.
[12]FU Caifen,TAN Wen.Parameters tuning of linear acrive disturbance rejection control based on high order controller design[J].Control Theory&Applications,2017,34(2):255-272.(傅彩芬,谭文.基于高阶控制器设计的线性自抗扰控制参数调整[J].控制理论与应用,2017,34(2):255-272.)
[13]ZHENG Q,GAO Z.Active disturbance rejection control:between the formulation in time and the understanding in frequency[J].Control Theory and Technology,2016,14(3):250-259.
[14]TIAN G,GAO Z.Frequency response analysis of active disturbance rejection based control system[C]//Proceedings of the 16th IEEE International Conference on Control Applications.Singapore:IEEE,2007:1595-1599.
[15]FRANKLIN G F,POWELL J D,EMAMI-NAEINI A.Feedback Control of Dynamic Systems[M].4th Edition.Upper Saddle River,NJ,USA:Prentice-Hall,2002.
[16]WU Qi,WANG Shifu.Principles of Automatic Control[M].2nd Edtion.Bejing:Tsinghua University Press,2006.(吴麒,王诗宓.自动控制原理(第二版).北京:清华大学出版社,2006.)
[17]TATSUMI J,GAO Z.On the enhanced ADRC design with a low observer bandwidth[C]//Proceedings of the 32nd Chinese Control Conference.Xi’an:IEEE,2013:297-302.