一阶大时滞对象降阶自抗扰控制的鲁棒稳定性
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摘要
针对一阶惯性大时滞对象,研究了Smith预估器结合降阶线性自抗扰控制(reduced-order linear active disturbance rejection control,RLADRC)的稳定性和鲁棒性问题.根据劳斯判据得到了使系统稳定的参数选择可行域,并通过数值仿真进行验证;然后基于频域响应分析了稳定可行域内系统的相角裕度范围;最后比较了降阶自抗扰预估控制与单独降阶自抗扰控制对被控对象参数摄动的鲁棒性,并基于蒙特卡罗实验证明了降阶自抗扰预估控制的动态性能更好、鲁棒性更强.这些结论可用于Smith预估器和降阶自抗扰预估控制器参数的设计.
Aiming at first-order inertial plants with large time-delay, the stability and robustness of RLADRC are studied by combining it with the Smith predictor. The stable feasible region of parameters is obtained according to routh criterion together with the verification of the numerical analysis. Besides, the phase margin range in the feasible region is analyzed according to the frequency response. In the end, the predictive RLADRC is compared with single RLADRC on robustness when parameters of control plants have some perturbation, and the results prove that predictive RLADRC has better dynamic performance and stronger robustness based on Monte Carlo experiments. These conclusions can be used to design parameters of the Smith predictor and RLADRC controllers.
Aiming at first-order inertial plants with large time-delay, the stability and robustness of RLADRC are studied by combining it with the Smith predictor. The stable feasible region of parameters is obtained according to routh criterion together with the verification of the numerical analysis. Besides, the phase margin range in the feasible region is analyzed according to the frequency response. In the end, the predictive RLADRC is compared with single RLADRC on robustness when parameters of control plants have some perturbation, and the results prove that predictive RLADRC has better dynamic performance and stronger robustness based on Monte Carlo experiments. These conclusions can be used to design parameters of the Smith predictor and RLADRC controllers.
引文
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[21]杨瑞光.线性自抗扰控制的若干问题研究[D].天津:南开大学,2011.
[2]刘启辉,文云,张云龙.基于一阶时滞系统的Smith预估器控制研究[J].自动化技术与应用,2014,33(9):11-13,17.
[3]韩京清.自抗扰控制器及其应用[J].控制与决策,1998,13(1):19-23.
[4]韩京清,张文革.大时滞系统的自抗扰控制[J].控制与决策,1999,14(4):354-358.
[5]GAO Z.Scaling and bandwidth-parameterization based controller tuning[C]//Proceedings of American Control Conference.Denver,USA:IEEE,2003:4989-4996.
[6]张玉琼,李东海.一类沸腾式流化床系统的自抗扰控制[J].中国科学技术大学学报,2012,42(5):391-397.ZHANG Yuqiong,LI Donghai.Active disturbance rejection control on a bubbling fluidized bed[J].Journal of University of Science and Technology of China,2012,42(5):391-397.
[7]杨瑞光,孙明玮,陈增强.飞行器自抗扰姿态控制优化与仿真研究[J].系统仿真学报,2010,22(11):2689-2693.
[8]赵春哲,林晓然,徐蓉,等.针对结构不确定的最小相位对象的ESO观测能力分析[J].中国科学技术大学学报,2012,42(7):532-539.ZHAO Chunzhe,LIN Xiaoran,XU Rong,et al.On tracking capability of the ESO for minimum phase plants with structural uncertainties[J].Journal of University of Science and Technology of China,2012,42(7):532-539.
[9]H UANG Y,XUE W.Active disturbance rejection control:methodology and theoretical analysis[J].ISATransactions,2011,53(4):963-976.
[10]T IAN G,GAO Z.Frequency response analysis of active disturbance rejection based control system[C]//IEEE International Conference on Control Applications.Singapore:IEEE,2007:1595-1599.
[11]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.
[12]Z HANG D,YAO X,WU Q.Frequency-domain characteristics analysis of linear active disturbance rejection control for second-order systems[C]//Proceedings of 34th Chinese Control Conference.Hangzhou,China:IEEE,2015:53-59.
[13]H UANG C,GAO Z.On transfer function representation and frequency response of linear active disturbance rejection control[C]//Proceedings of the32nd Chinese Control Conference.Xi'an,China:IEEE,2013:72-78.
[14]陈增强,程赟,孙明玮,等.线性自抗扰控制理论及工程应用的若干进展[J].信息与控制,2017,46(3):257-266.
[15]LUENBERGER D G.An introduction to observers[J].IEEE Transactions on Automatic Control,1972,16(6):596-602.
[16]TIAN G.Reduced-order extended state observer and frequency response analysis[D].Cleveland:Cleveland State University,2007.
[17]Z HENG Q,GAO Z.Predictive active disturbance rejection control for processes with time delay[J].ISATransactions,2013,53(4):873-881.
[18]唐德翠,高志强,张绪红.浊度大时滞过程的预测自抗扰控制器设计[J].控制理论与应用,2017,34(1):101-108.
[19]王传榜,王永,梁青.降阶自抗扰控制器对时滞系统控制研究[J].控制工程,2016,23(10):1602-1606.
[20]王丽君,李擎,童朝南,等.一种时滞系统的自抗扰控制系统的设计及整定:中国,CN104267616A[P].2015-01-07.
[21]杨瑞光.线性自抗扰控制的若干问题研究[D].天津:南开大学,2011.