分散控制系统的扰动抑制能力评价新标准

针对分散控制系统的扰动抑制能力评价问题,通过考虑回路处于不同状态时的情形,考察各种状态下的扰动增益并引入完全相对扰动增益矩阵,提出了一个度量新标准.该标准克服了其它评价方法的缺点,能够衡量分散控制系统的总的扰动抑制能力.对数值算例和一个气化炉基准过程的研究表明,提出的标准是设计分散控制结构的有用工具.     

PI Adaptive Fuzzy Control With Large and Fast Disturbance Rejection for a Class of Uncertain Nonlinear Systems

Design of controllers for uncertain systems is inherently paradoxical. Adaptive control approaches claim to adapt system parameters against uncertainties, but only if these uncertainties change slowly enough. Alternatively, robust control methodologies claim to ensure system stability against uncertainties, but only if these uncertainties remain within known bounds. This is while, in reality, disturbances and uncertainties remain faithfully uncertain, i.e., may be both fast and large. In this paper, a PI-adaptive fuzzy control architecture for a class of uncertain nonlinear systems is proposed that aims to provide added robustness in the presence of large and fast but bounded uncertainties and disturbances. While the proposed approach requires the uncertainties to be bounded, it does not require this bound to be known. Lyapunov analysis is used to prove asymptotic stability of the proposed approach. Application of the proposed method to a second-order inverted pendulum system demonstrates the effectiveness of the proposed approach. Specifically, system responses to fast versus slow and large versus small disturbances are considered in the presented simulation studies.     

基于伴随向量方法的多延时系统最优扰动抑制

研究包含有状态、控制和测量延时连续系统的最优扰动抑制问题.首先分析并提出了系统转换的方法,将原系统转化为无延时项的连续系统.然后将该系统与扰动系统联立为增广系统,并将最优扰动抑制问题转化为最优状态调节器问题.运用Pontryagin极小值原理证明最优控制的必要性,运用动态规划法证明其充分性;通过定义伴随向量解决了扰动向量和最优性能指标物理不可实现的问题.最后运用数据仿真将几种不同控制律作用下的系统响应作比较,验证所设计控制律的有效性及简易性.     

HH神经元的自抗扰同步研究

因外部电磁环境变化导致生物神经元放电节律不同步是生物控制中需要解决的一个难点问题。HH神经元模型是描述神经元动力学特性的第一个数学模型,以HH神经元为研究对象,利用各种现代控制方法获得HH神经元的同步,方法的不足在于对外部干扰的敏感性以及控制律复杂不易实现。为增强神经元同步的鲁棒性和可行性,利用自抗扰控制算法,在三种不同情况下研究HH神经元的同步,并且依次加入不同干扰验证其同步效果。仿真结果表明,自抗扰控制能够对神经元系统的总扰动进行实时估计和补偿,消除扰动对神经元系统同步的影响,从而获得良好的同步效果。     

九点控制器在扰动系统中的应用

九点控制器作为一种新型的智能逻辑控制器,由于其自身结构的特殊性,使其能对扰动系统有很好的控制效果.本文着重介绍九点控制器能控制扰动系统的原因,并给出九点控制器控制扰动系统的仿真结果和实际系统测试结果.     

Active Disturbance Rejection Control for Attitude Control of Missile Systems Based on Back-stepping Method

International Journal of Control, Automation and Systems - In this paper, a novel attitude control method for nonlinear missile system is proposed, which combines backstepping technique with linear...     

Non-sequential QFT Design Methodology for Disturbance Rejection Problem in Uncertain Multivariable Systems

International Journal of Control, Automation and Systems - A new design approach for quantitative feedback synthesis (QFT) to the disturbance rejection problem in an uncertain multi-input...     

Graphical Robust PID Tuning Based on Uncertain Systems for Disturbance Rejection Satisfying Multiple Objectives

Tuning parameters of the PID controller which satisfying certain requirements is the key goal in uncertain systems. However, most studies ignored the disturbance rejection performance of the controller. This study investigated a novel graphical design method of improving disturbance rejection performance for uncertain system. The proposed method evaluates the disturbance rejection performance by analyzing reference to disturbance ratio (RDR). At the same time, the parameters of the controller which can stabilize the system and meet the robustness specification for the uncertain system are determined by specifications-oriented Kharitonov region (SOKR). Thus, the intersection region satisfying multiple objectives can be found by using this graphical method. Examples are given to demonstrate the flexibility and effectiveness of the proposed method.     

Robust Contractive Economic MPC for Nonlinear Systems with Additive Disturbance

International Journal of Control, Automation and Systems - This article presents two novel robust contractive economic model predictive control (EMPC) algorithms with guaranteed input-to-state...     

连续搅拌反应釜系统的自抗扰控制

针对连续搅拌反应釜系统(CSTR)大滞后,大惯性以及动态特性随工况不确定性变化的特点,通过设计参数可调的跟踪微分器和扩张状态观测器,改进经典PID算法的固有缺陷,提出不依赖于精确CSTR模型的离散自抗扰控制方案,采用西门子新一代工业可编程控制器-SIMATIC PCS7在多功能过程与控制系统的CSTR实验仿真对象上实现...     

侧向推搡下的四足机器人复合抗扰控制策略

针对四足机器人侧向推搡下的平衡恢复问题,提出了一种复合抗扰反应式鲁棒控制策略.该策略由摆动相的自适应侧摆规划策略和支撑相的关节抗扰控制构成.摆动相自适应侧摆规划策略通过四足机器人足端落地点的力平衡条件进行主动式步态规划以保证机器人在侧向推搡下的姿态稳定,并基于关节输出力矩给出了侧摆的启动条件.支撑相关节抗扰控制通过带扰动项的四足机器人完整动力学模型设计了基于干扰观测器的鲁棒滑模控制器,实现对侧向推搡扰动的补偿.最后,通过Matlab与ADAMS联合仿真验证了提出的控制策略的有效性.     

自抗扰控制器在液位控制中的研究

经典PID控制器由于其简单实用,在液位控制中广泛的应用。但对于涉及到工业过程控制中的一阶时滞系统来说:PID控制存在着诸多不理想因素,如环境变化等容易导致工业模型参数随之变化造成的控制不理想。为了改善其液位的控制效果并保留经典PID控制的简单实用性。提出了一种比较新型的控制方案:即自抗扰控制器(ADRC)水箱液位控制。自抗扰控制器具有模型简单,收敛速度快,精度高,参数易于调节等特点,通过建立控制系统的仿真模型,将用Z-N整定方法的PID控制与自抗扰控制进行比较,并进行了仿真对比研究。结论表明:自抗扰算法在液位控制等控制工程中是一种优秀的控制方案。     

An Active Disturbance Rejection Based Approach to Vibration Suppression in Two‐Inertia Systems

This study concerns the resonance problems found in motion control, typically described in a two‐inertia system model as compliance between the motor and the load. We reformulate the problem in the framework of active disturbance rejection control (ADRC), where the resonance is assumed to be unknown and treated as disturbance, estimated and mitigated. This allows the closed‐loop bandwidth to go well beyond the resonant frequency, which is quite difficult using existing methods. In addition, such level of performance is achieved with minimum complexity in the controller design and tuning: no parameter estimation or adaptive algorithm is needed, and the controller is tuned by adjusting one parameter, namely, the bandwidth of the control loop. It is also shown that the proposed solution applies to both the velocity and position control problems, and the fact that ADRC offers an effective and practical motion control solution, in the presence of unknown resonant frequency within the bandwidth of the control system. Finally, frequency response analysis is performed where stability margin is obtained before the simulation results are verified in the hardware experiments.     

基于模糊自抗扰的开关磁阻电机转速控制

针对车载开关磁阻电机强非线性及在车辆运行过程中出现的负载扰动大,给定转速多变等特点,提出了一种模糊自抗扰转速控制方法.将模糊控制运用与自抗扰控制参数的实时自整定,使控制系统的自适应能力得到提高.运用Matlab/Simulink仿真软件进行仿真验证表明,上述控制算法与传统PI控制算法相比能有效减少转速响应时间,减小超调量,提高系统的抗干扰性及鲁棒性.     

Adaptive Neural Network Tracking Control With Disturbance Attenuation for Multiple-Input Nonlinear Systems

A switching adaptive neural network controller for multiple-input nonlinear, affine in the control dynamical systems with unknown nonlinearities is designed, capable of arbitrarily attenuating $L_{2}$ or $L_{infty} $ external disturbances. In the absence of disturbances, a uniform ultimate boundedness property of the tracking error with respect to an arbitrarily small set around the origin is guaranteed, as well as the uniform boundedness of all the signals in the closed loop. The proposed switching adaptive controller effectively avoids possible division by zero, while guaranteeing the continuity of switching. In this way, problems connected to existence of solutions and chattering phenomena are alleviated. Simulations illustrate the approach.      

SCR烟气脱硝系统鲁棒抗干扰控制研究

选择性催化还原(Selective Catalytic Reduction,SCR)技术是目前火电厂广泛采用的烟气脱硝方法,SCR脱硝系统反应过程复杂,具有大惯性、大迟延、强扰动和不确定性等特点,传统的PID控制无法实现喷氨量的精确控制。因此提出了一种SCR脱硝系统的鲁棒抗扰动控制方法,在设计鲁棒PID控制器的基础上,利用鲁棒时滞滤波器来达到抑制系统强干扰的目的。仿真实验表明,鲁棒时滞滤波器的加入改善了系统的动态性能,同时使得系统具有突出的抗干扰能力。该方法结构简单、整定方便、鲁棒性好,值得在工程应用中推广。     

基于Smith预估的自抗扰控制系统

纯滞后对象一直是自动控制和计算机应用领域的一大难题.常用的PID与smith预估相结合的方法,在预估不准确的情况下,不能取得较好的控制效果;而单一的自抗扰控制器在滞后时间较大的情况下,调节时间较长.针对大滞后对象提出了自抗扰控制器与Smith预估补偿器相结合的设计方案.通过仿真对比PID配合Smith预估补偿器及单一的自抗扰控制器的控制效果,表明自抗扰控制器与Smith预估补偿器的结合有效地改善了大滞后对象的控制效果,增强了系统的鲁棒性和抗干扰能力.