时滞系统的自抗扰广义预测控制的性能分析
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摘要
为了实现对时滞系统的高性能控制,提出1种自抗扰广义预测控制算法。首先阐述自抗扰广义预测控制算法的设计原理,得到算法的闭环反馈结构。然后利用频域分析法推导出算法的频域特性,分析并总结时滞系统自抗扰广义预测控制算法的参数整定原则。最后对自抗扰广义预测控制算法以及传统的广义预测控制算法的动态性能进行比较。研究结果表明:自抗扰广义预测控制算法无需在线辨识被控对象精确的数学模型,可以离线求得丢番图方程的解析解,算法的在线计算量大大减少;相比于传统的广义预测控制算法,自抗扰广义预测控制算法具有更好的动态性能。
In order to achieve high performance control of time-delay system, a new algorithm, i.e., active disturbance rejection generalized predictive control(ADRC-GPC) was proposed. First, the design process of the new algorithm was introduced. Then the closed-loop feedback structure of ADRC-GPC algorithm was deduced. Second, frequency domain analysis method was used to analyze frequency characteristics of ADRC-GPC method, and the parameters tuning principle of the algorithm was summarized. At last, dynamic performance of ADRC-GPC algorithm was compared with that of GPC algorithm. The results show that the proposed method can get the general solutions to Diophantine equations off-line and does not need to identify the system parameters, so the online calculation burden is reduced greatly. ADRC-GPC algorithm shows better dynamic performance than the traditional GPC control algorithm.
In order to achieve high performance control of time-delay system, a new algorithm, i.e., active disturbance rejection generalized predictive control(ADRC-GPC) was proposed. First, the design process of the new algorithm was introduced. Then the closed-loop feedback structure of ADRC-GPC algorithm was deduced. Second, frequency domain analysis method was used to analyze frequency characteristics of ADRC-GPC method, and the parameters tuning principle of the algorithm was summarized. At last, dynamic performance of ADRC-GPC algorithm was compared with that of GPC algorithm. The results show that the proposed method can get the general solutions to Diophantine equations off-line and does not need to identify the system parameters, so the online calculation burden is reduced greatly. ADRC-GPC algorithm shows better dynamic performance than the traditional GPC control algorithm.
引文
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[6]陈增强,孙明玮,杨瑞光.线性自抗扰控制器的稳定性研究[J].自动化学报,2013,39(5):574-580.CHEN Zengqiang,SUN Mingwei,YANG Ruiguang.On the stability of linear active disturbance rejection control[J].Acta Automatica Sinica,2013,39(5):574-580.
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[11]毛宗星,陈增强,孙青林,等.基于频域的广义预测控制的鲁棒性分析[J].华东理工大学学报(自然科学版),2002,28(S1):15-19.MAO Zongxing,CHEN Zengqiang,SUN Qinglin,et al.Analyzing the robustness of generalized predictive control based on frequency domain[J].Journal of East China University of Science and Technology(Science and Technology),2002,28(S1):15-19.
[12]毛宗星,陈增强,孙青林,等.基于频域的广义预测控制的稳定性分析[J].控制与决策,2002,11(6):859-862.MAO Zongxing,CHEN Zengqiang,SUN Qinglin,et al.Stability analysis of generalized predictive control based on frequency domain[J].Control and Decision,2002,11(6):859-862.
[13]徐琦,孙明玮,陈增强,等.内模控制框架下时延系统扩张状态观测器参数整定[J].控制理论与应用,2013,30(2):1-5.XU Qi,SUN Mingwei,CHEN Zengqiang,et al.Extended state observer tuning for time-delay systems in the framework of internal model control[J].Control Theory and Applications,2013,30(2):1-5.
[14]杨瑞光.线性自抗扰控制的若干问题研究[D].天津:南开大学计算机与控制工程学院,2011:64-71.YANG Ruiguang.On linear active disturbance rejection control[D].Tianjin:Nankai University.College of Computer and Control Engineering,2011:64-71.
[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].北京:国防工业出版社,2008:183-287.HAN Jingqing.Active disturbance rejection control technique:the technique for estimating and compensating the uncertainties[M].Beijing:National Defense Industry Press,2008:183-287.
[3]韩京清.抗扰控制器及其应用[J].制与决策,98,13(1):19-23.HAN Jingqing.Active disturbance rejection controller and its applications[J].Control and Decision,1998,13(1):9-23.
[4]GAO Zhiqiang.Active disturbance rejection control:from an enduring idea to an emerging technology[C]//Proceedings of the10th International Workshop on Robot Motion and Control.Poznan,Poland:IEEE,2015:269-282.
[5]叶孝璐,俞立,张文安等.基于串级ADRC的四旋翼飞行器悬停控制[J].中南大学学报(自然科学版),2017,48(8):2079-2087.YE Xiaolu,YU Li,ZHANG Wenan,et al.Cascade ADRC-based hover control for quadrotor air vehicles[J].Journal of Central South University(Science and Technology),2017,48(8):2079-2087.
[6]陈增强,孙明玮,杨瑞光.线性自抗扰控制器的稳定性研究[J].自动化学报,2013,39(5):574-580.CHEN Zengqiang,SUN Mingwei,YANG Ruiguang.On the stability of linear active disturbance rejection control[J].Acta Automatica Sinica,2013,39(5):574-580.
[7]HUANG Yi,XUE Wenchao.Active disturbance rejection control:methodology and theoretical analysis[J].ISA Transaction,2010,53(4):6083-6090.
[8]CLARKE D W,MOHTADI C,TUFFS P S.Generalized predictive control:part 1 and part 2[J].Automatica,1987,23(2):137-160.
[9]席裕庚.预测控制[M].2版.北京:国防工业出版社,2013:1-23.XI Yugeng.Predictive control[M].2nd ed.Beijing:National Defense Industry Press,2013:1-23.
[10]陈增强,孙明玮,袁著祉.采样系统预测控制的设计与分析[J].控制理论与应用,2002,19(2):268-270.CHEN Zengqiang,SUN Mingwei,YUAN Zhuzhi.Predictive control design and analysis for sampled-data systems[J].Control Theory and Applications,2002,19(2):268-270.
[11]毛宗星,陈增强,孙青林,等.基于频域的广义预测控制的鲁棒性分析[J].华东理工大学学报(自然科学版),2002,28(S1):15-19.MAO Zongxing,CHEN Zengqiang,SUN Qinglin,et al.Analyzing the robustness of generalized predictive control based on frequency domain[J].Journal of East China University of Science and Technology(Science and Technology),2002,28(S1):15-19.
[12]毛宗星,陈增强,孙青林,等.基于频域的广义预测控制的稳定性分析[J].控制与决策,2002,11(6):859-862.MAO Zongxing,CHEN Zengqiang,SUN Qinglin,et al.Stability analysis of generalized predictive control based on frequency domain[J].Control and Decision,2002,11(6):859-862.
[13]徐琦,孙明玮,陈增强,等.内模控制框架下时延系统扩张状态观测器参数整定[J].控制理论与应用,2013,30(2):1-5.XU Qi,SUN Mingwei,CHEN Zengqiang,et al.Extended state observer tuning for time-delay systems in the framework of internal model control[J].Control Theory and Applications,2013,30(2):1-5.
[14]杨瑞光.线性自抗扰控制的若干问题研究[D].天津:南开大学计算机与控制工程学院,2011:64-71.YANG Ruiguang.On linear active disturbance rejection control[D].Tianjin:Nankai University.College of Computer and Control Engineering,2011:64-71.