不稳定对象及非最小相位对象的自抗优控制仿真研究

针对倒立摆、水轮机调速器、鱼雷定深、飞机高度及直升机俯仰角的控制,分别设计了自抗扰控制器（ADRC）,给出其数值仿真结果,并与其它控制方案的仿真结果进行比较。仿真研究发现,只要对控制器的设计略加改造,ADRC对上述对象都具有满意的控制性能,从而显示出ADRC在不稳定对象和非最小相位对象控制中的应用前景。     

一般工业对象的二阶自抗扰控制

自抗扰控制器（Auto-Disturbance-Rejecion Controller,ADRC)在较广泛的一大类不确定系统和系统中存在强干扰的情况下表现出很强的适应性和鲁棒性。基于ADRC的控制能力，研究了用二阶ADRC来控制一般工业对象（一至三阶）的问题，理论分析和数值仿真结果表明，二阶ADR 不但能够控制存在扰动的一阶和三阶线性，非线性对象，而且控制效果也很理想，充分体现出非线性控制器的优点。另外，二阶ADRC的参数也容易调整。     

基于改进遗传算法的自抗扰控制器参数优化

本文将一种改进的遗传算法应用到自抗扰控制器（ADRC）的参数整定中,以解决ADRC 参数不易整 定的问题．在ADRC 参数优化过程中建立了控制器控制效果目标评价函数,在函数中综合考虑了控制器的动态性能 和被控对象的输入受限条件．所设计的ADRC 控制器所需的控制能量明显小于其他方法所设计的ARDC 所需控制 能量．仿真结果表明,本文所提ADRC 参数整定方法是有效的．     

大纯滞后纯积分对象的二阶自抗扰控制

具有纯滞后的一阶惯性关节是研究滞后问题的典型对象，采用修改后的二阶抗扰控制器ADRC（Auto-Disturbance-Rejection Controller)，研究了大纯滞后纯积分对象的控制，仿真表明，二阶ADRC能有效控制该类对象，并表现出较强的鲁棒性和抗扰性，而且在一定程度上不存在所谓的模糊型失配问题，此外，给出了滞后时间从0开始不断增加的控制器参数调整表和基于时间尺度的控制器参数调整依据，具有一定的工程实用价值。     

实用自抗扰控制在大时滞厚度自动监控系统中的应用

针对热连轧监控AGC(自动厚度控制)大时滞系统具有不确定和干扰因素多等特点, 采用线性降阶模型及参数优化设计, 提出一种实用自抗扰控制(ADRC)控制方案, 以满足简单、实用、好调、节能等工业界的要求. 通过对被控对象和状态观测器的降阶, 使得系统总扰动(内部不确定性、外部扰动) 的实时估计由一个仅为一阶的扩张状态观测器就可实现. 为了把所设计的实用ADRC与常规ADRC、常规Smith预估器和PID控制器进行公平比较, 各控制器的最佳参数均采用变尺度混沌优化方法得到. 仿真结果表明, 两种ADRC的抗扰性和鲁棒性优于常规的Smith预估器和PID控制器. 与常规ADRC相比, 实用ADRC的可调参数大大减少, 能耗指标也明显降低, 为下一步的工程实现提供了途径.     

凹印机多色套准系统自抗扰解耦控制

针对凹版印刷机对套准控制高精度和高稳定性的要求,提出了一种利用自抗扰控制(active disturbance rejection control,ADRC)技术设计多色套准系统解耦控制器的方法.首先,根据无轴传动模式下多色套准系统的工作机理,建立了多色套准系统的非线性耦合数学模型,并根据ADRC解耦规则推导了套准系统的解耦模型,得到了套准系统的阶数和静态解耦模型.其次,在套准系统阶数和静态解耦模型的基础上,利用ADRC策略对套准系统解耦控制器进行了设计.最后,仿真结果表明,所设计的ADRC解耦控制器能够很好地对各种系统干扰进行补偿,实现了多色套准系统的高精度控制,具有比PID控制器更好的控制性能.     

特殊工业对象的PID控制系统仿真研究

延迟系统、高阶系统、非最小相位系统和非线性系统是比较特殊的工业对象。介绍了对前三种对象所采用的PID前馈控制方案,并由大量的实验数据总结出控制器整定经验公式,仿真实验表明这种方案能达到较满意的控制效果;另外还介绍了对非线性对象所采用的多PID控制方案,仿真实验表明这种方案优于单个PID控制。     

液位温度时滞耦合系统自抗扰控制仿真研究

将自抗扰控制技术(ADRC)应用于冷热水混合系统来仿真工业过程系统,进而研究对该类耦合时滞系统的控制策略。传统的方法是用双通道PID控制器进行仿真。通过Matlab平台搭建实验进行比较,自抗扰控制器能够有效地对冷热水混合系统进行解耦控制。相比于双通道PID控制器,自抗扰控制器的控制效果具有更优的动态性能与鲁棒性,证明自抗扰控制器能够适应环境的变化。仿真结果可为一类具有时滞耦合特性的复杂工业过程提供控制参考。     

热工控制对象的不同控制方案的鲁棒性分析

针对热工控制对象模型的复杂性和参数不确定性,首先运用二步线性最小二乘法进行模型降阶,将对象模型降为二阶,然后对二阶模型设计定值控制器并进行控制器参数优化,包括:PID控制、鲁棒控制、内模控制和模糊控制的控制方法进行鲁棒稳定性分析、比较,得出分析结果.这一研究意义就在于,在理论分析及仿真试验的基础上找出最为适合热工控制对象参数时变这一特性的具有较强鲁棒性的控制器设计方案,对实际的工程应用进行指导.     

时滞对象的自适应Smith预估控制方案

针对时滞被控对象提出了一种自适应Ｓｍｉｔｈ预估控制方案,利用变遗忘因子递推最小二乘法进行参数在线辨识以构成Ｓｍｉｔｈ预估器,采用模糊神经网络控制器完成对被控对象的控制。仿真结果证明了这种方法的有效性。     

一类诱导时滞网络控制系统自抗扰控制器设计

针对一类具有网络时滞小于采样周期的网络控制系统提出网络控制的主要问题是网络通信系统模型的不确定性导致控制性能不佳;针对这一问题,采用基于无模型的自抗扰算法,将网络环节和被控对象一同视为控制对象,将网络时滞作为被控对象的不确定性因素,利用扩张状态观测器对不确定性因素进行实时观测估计;Matlab/TrueTime网络控制实验表明:自抗扰控制方法能够有效地减小网络诱导时滞对控制系统的影响。     

惯性串联系统的自抗扰控制

针对非线性不确定惯性串联系统的控制问题,提出了惯性串联型扩张状态观测器（Extended state observer,ESO）,使其可直接对惯性串联系统的扩张状态进行估计,同时把被控对象的极点配置到期望位置,在此基础上提出了适合惯性串联系统的自抗扰控制（Active disturbance rejection control,ADRC）方法,该惯性串联型ADRC方法可以充分利用被控对象的已有知识.论文还给出了惯性串联型ADRC和基于扰动观测器（Disturbance observer,DOB）的控制方法之间的联系,指出它们具有相同的三自由度（three-degree of freedom control,3-DOF）控制系统结构和模块功能,都能实现对系统期望模型以外的总扰动进行估计和补偿.仿真结果表明,所提出的方法是有效的,惯性串联型ESO能实现系统总扰动的估计,惯性串联型ADRC能使系统输出能很好地跟踪系统参考输入.     

大时滞系统的自抗扰控制

一个高阶被控对象含有几个小时常数惯性环节时,可简化成低阶时滞系统,依据这种认识,要用高阶自抗扰控制器来控制低阶大时滞对象。数值仿真结果显示了自抗扰控制器控制大时滞系统的有效性。     

Active Disturbance Rejection Control for Uncertain Nonlinear Systems With Sporadic Measurements

This paper deals with the problem of active disturbance rejection control (ADRC) design for a class of uncertain nonlinear systems with sporadic measurements. A novel extended state observer (ESO) is designed in a cascade form consisting of a continuous time estimator, a continuous observation error predictor, and a reset compensator. The proposed ESO estimates not only the system state but also the total uncertainty, which may include the effects of the external perturbation, the parametric uncertainty, and the unknown nonlinear dynamics. Such a reset compensator, whose state is reset to zero whenever a new measurement arrives, is used to calibrate the predictor. Due to the cascade structure, the resulting error dynamics system is presented in a non-hybrid form, and accordingly, analyzed in a general sampled-data system framework. Based on the output of the ESO, a continuous ADRC law is then developed. The convergence of the resulting closed-loop system is proved under given conditions. Two numerical simulations demonstrate the effectiveness of the proposed control method.      

Active disturbance rejection based load frequency control and voltage regulation in power systems

An active disturbance rejection controller (ADRC) is developed for load frequency control (LFC) and voltage regulation respectively in a power system. For LFC, the ADRC is constructed on a three area interconnected power system. The control goal is to maintain the frequency at nominal value (60Hz in North America) and keep tie line power flow at scheduled value. For voltage regulation, the ADRC is applied to a static var compensator (SVC) as a supplementary controller. It is utilized to maintain the voltages at nearby buses within the ANSI C84.1 limits (or ±5% tolerance). Particularly, an alternative ADRC with smaller controller gains than classic ADRC is originally designed on the SVC system. From power generation and transmission to its distribution, both voltage and frequency regulating systems are subject to large and small disturbances caused by sudden load changes, transmission faults, and equipment loss/malfunction etc. The simulation results and theoretical analyses demonstrate the effectiveness of the ADRCs in compensating the disturbances and achieving the control goals.     

Active disturbance rejection control approach to stabilization of lower triangular systems with uncertainty

In this paper, we apply the active disturbance rejection control (ADRC) to stabilization for lower triangular nonlinear systems with large uncertainties. We first design an extended state observer (ESO) to estimate the state and the uncertainty, in real time, simultaneously. The constant gain and the time‐varying gain are used in ESO design separately. The uncertainty is then compensated in the feedback loop. The practical stability for the closed‐loop system with constant gain ESO and the asymptotic stability with time‐varying gain ESO are proven. The constant gain ESO can deal with larger class of nonlinear systems but causes the peaking value near the initial stage that can be reduced significantly by time‐varying gain ESO. The nature of estimation/cancelation makes the ADRC very different from high‐gain control where the high gain is used in both observer and feedback. Copyright © 2015 John Wiley & Sons, Ltd.     

Algebraic estimation and active disturbance rejection in the control of flat systems

This paper proposes a feedback method for the control of uncertain systems with unknown external disturbances, which includes an algebraic estimator and relies on the Active Disturbance Rejection Control (ADRC) approach. The proposed estimator considers a generalized disturbance in order to deal with systems which may simultaneously present time varying parameters, external disturbances, un-modeled dynamics, and process noise. The on-line estimated disturbance is obtained by means of differential algebraic methods and it is used as the major part of an on-line feedback cancellation scheme aiming at linearization and uncertainty suppression. The algebraic estimator proposed in the paper makes unnecessary the use of classical extended state observers, which are widely used in ADRC. The speed of response and reliability of the proposed algebraic disturbance estimator-based control scheme was experimentally tested on three laboratory systems, including a system of directly-coupled DC motors, a roto-magnet system, and a disc and beam system, showing that the experimental results are in excellent agreement with the predictions of the theory.     

时滞系统的自抗扰控制综述

时滞系统的控制一直是具有挑战性的普遍问题, 而自抗扰控制思想近年来被广泛地应用于时滞系统中. 在简要概述自抗扰控制原理的基础上, 介绍了应用自抗扰控制思想解决时滞系统问题的常用设计方法, 总结了自抗扰控制器的参数整定方法. 最后, 对今后的进一步研究进行了展望.     

On ADRC for non-minimum phase systems: canonical form selection and stability conditions

Active disturbance rejection control (ADRC), as proposed by Prof. Jingqing Han, reduces first the plant dynamics to its canonical form, normally in the form of cascade integrators, for which the standard controller can be employed to meet the design specifications. This paper concerns with the selection of the canonical form for non-minimum phase systems. In particular, it is shown that, by employing the well known controllable canonical form, the uncertainties of such systems can be divided into two terms in the state space model, one in the control channel and the other in the output channel. The necessary and sufficient condition is obtained for the stability of the closed-loop system with the proposed canonical form and ADRC. Also, by showing the necessity of the detectability of the extended system as well as certain information of the systemˉs “zeros”, we present the fundamental guidelines of design ADRC for non-minimum phase uncertain systems.     

热连轧板宽板厚的实用自抗扰解耦控制

针对热连轧板宽板厚多变量系统存在强耦合、大时滞和随机不确定等难题,提出了一种线性自抗扰动态解耦方案.考虑到系统的大时滞问题,在常规的降阶扩张状态观测器(ESO)之前,增加了一个纯时滞环节.为了把所设计的实用自抗扰控制(ADRC)与常规PID控制器进行公平比较,各控制器的最佳参数均采用变尺度混沌优化方法得到.仿真结果表明,优化后的ADRC不仅具有较好的解耦性能,而且对模型参数的不确定性和外扰具有较强的鲁棒性和参数适应性.