In this paper,a linear/nonlinear switching active disturbance rejection control(SADRC)based decoupling control approach is proposed to deal with some difficult control problems in a class of multi-input multi-output(M...In this paper,a linear/nonlinear switching active disturbance rejection control(SADRC)based decoupling control approach is proposed to deal with some difficult control problems in a class of multi-input multi-output(MIMO)systems such as multi-variables,disturbances,and coupling,etc.Firstly,the structure and parameter tuning method of SADRC is introduced into this paper.Followed on this,virtual control variables are adopted into the MIMO systems,making the systems decoupled.Then the SADRC controller is designed for every subsystem.After this,a stability analyzed method via the Lyapunov function is proposed for the whole system.Finally,some simulations are presented to demonstrate the anti-disturbance and robustness of SADRC,and results show SADRC has a potential applications in engineering practice.展开更多
This paper proposes a liner active disturbance rejection control(LADRC) method based on the Q-Learning algorithm of reinforcement learning(RL) to control the six-degree-of-freedom motion of an autonomous underwater ve...This paper proposes a liner active disturbance rejection control(LADRC) method based on the Q-Learning algorithm of reinforcement learning(RL) to control the six-degree-of-freedom motion of an autonomous underwater vehicle(AUV).The number of controllers is increased to realize AUV motion decoupling.At the same time, in order to avoid the oversize of the algorithm, combined with the controlled content, a simplified Q-learning algorithm is constructed to realize the parameter adaptation of the LADRC controller.Finally, through the simulation experiment of the controller with fixed parameters and the controller based on the Q-learning algorithm, the rationality of the simplified algorithm, the effectiveness of parameter adaptation, and the unique advantages of the LADRC controller are verified.展开更多
This paper mainly focuses on stability analysis of the nonlinear active disturbance rejection control(ADRC)-based control system and its applicability to real world engineering problems.Firstly,the nonlinear ADRC(NLAD...This paper mainly focuses on stability analysis of the nonlinear active disturbance rejection control(ADRC)-based control system and its applicability to real world engineering problems.Firstly,the nonlinear ADRC(NLADRC)-based control system is transformed into a multi-input multi-output(MIMO)Lurie-like system,then sufficient condition for absolute stability based on linear matrix inequality(LMI)is proposed.Since the absolute stability is a kind of global stability,Lyapunov stability is further considered.The local asymptotical stability can be deter-mined by whether a matrix is Hurwitz or not.Using the inverted pendulum as an example,the proposed methods are verified by simulation and experiment,which show the valuable guidance for engineers to design and analyze the NL ADRC-based control system.展开更多
提出了一种基于改进线性扩张状态观测器(linear extended state observer,LESO)的电力电子负载自抗扰控制策略,解决了传统控制方法动态性能较差、对系统参数依赖等问题。建立LCL(line current loop)变换器在α-β坐标系下的数学模型,分...提出了一种基于改进线性扩张状态观测器(linear extended state observer,LESO)的电力电子负载自抗扰控制策略,解决了传统控制方法动态性能较差、对系统参数依赖等问题。建立LCL(line current loop)变换器在α-β坐标系下的数学模型,分析线性自抗扰控制(linear active disturbance rejection control,LADRC)中LESO的误差,对观测器控制输出部分的结构进行改进,以减小观测值中来自控制输出信号的误差。通过LESO求取指令电流微分,引入线性误差反馈控制率中,减小传统LADRC的固有误差。分析系统的频域特性,研究参数和控制策略对系统的影响。通过仿真和半实物仿真,验证了改进策略能明显改善传统LADRC跟踪动态信号时的波形畸变、相位滞后等问题,使变换器实现对各类负载的精确模拟。展开更多
现有对双馈风电机组低电压穿越(low voltage ride through,LVRT)的研究中,主要的LVRT措施为投入撬棒保护电路,但该措施较为单一和被动,并且风机还需要吸收一定的无功,因此风机系统难以取得良好的LVRT性能。针对这一问题,提出一种含线性...现有对双馈风电机组低电压穿越(low voltage ride through,LVRT)的研究中,主要的LVRT措施为投入撬棒保护电路,但该措施较为单一和被动,并且风机还需要吸收一定的无功,因此风机系统难以取得良好的LVRT性能。针对这一问题,提出一种含线性自抗扰控制(linear active disturbance rejection control,LADRC)的定、转子侧协同LVRT策略。定子侧采用串联动态阻抗以抑制转子电流升高;网侧变流器采用LADRC提高直流侧母线电压的抗扰能力,并为转子侧变流器附加控制策略创造良好的工作条件。针对不同程度的电压跌落,转子侧变流器分别采用无功补偿和磁链主动衰减的控制策略以优化LVRT期间的无功输出能力。在考虑相位跳变的基础上,分析了采用LADRC以及定、转子侧协同LVRT策略下的双馈风机短路特性,并对短路电流进行了解析。最后,通过仿真验证了该协同LVRT策略的有效性以及短路电流解析式的正确性。展开更多
基金supported by the Scientific Research Innovation Development Foundation of Army Engineering University((2019)71).
文摘In this paper,a linear/nonlinear switching active disturbance rejection control(SADRC)based decoupling control approach is proposed to deal with some difficult control problems in a class of multi-input multi-output(MIMO)systems such as multi-variables,disturbances,and coupling,etc.Firstly,the structure and parameter tuning method of SADRC is introduced into this paper.Followed on this,virtual control variables are adopted into the MIMO systems,making the systems decoupled.Then the SADRC controller is designed for every subsystem.After this,a stability analyzed method via the Lyapunov function is proposed for the whole system.Finally,some simulations are presented to demonstrate the anti-disturbance and robustness of SADRC,and results show SADRC has a potential applications in engineering practice.
基金supported by the National Natural Science Foundation of China (6197317561973172)Tianjin Natural Science Foundation (19JCZDJC32800)。
文摘This paper proposes a liner active disturbance rejection control(LADRC) method based on the Q-Learning algorithm of reinforcement learning(RL) to control the six-degree-of-freedom motion of an autonomous underwater vehicle(AUV).The number of controllers is increased to realize AUV motion decoupling.At the same time, in order to avoid the oversize of the algorithm, combined with the controlled content, a simplified Q-learning algorithm is constructed to realize the parameter adaptation of the LADRC controller.Finally, through the simulation experiment of the controller with fixed parameters and the controller based on the Q-learning algorithm, the rationality of the simplified algorithm, the effectiveness of parameter adaptation, and the unique advantages of the LADRC controller are verified.
基金supported by the National Natural Science Foundation of China(61836001).
文摘This paper mainly focuses on stability analysis of the nonlinear active disturbance rejection control(ADRC)-based control system and its applicability to real world engineering problems.Firstly,the nonlinear ADRC(NLADRC)-based control system is transformed into a multi-input multi-output(MIMO)Lurie-like system,then sufficient condition for absolute stability based on linear matrix inequality(LMI)is proposed.Since the absolute stability is a kind of global stability,Lyapunov stability is further considered.The local asymptotical stability can be deter-mined by whether a matrix is Hurwitz or not.Using the inverted pendulum as an example,the proposed methods are verified by simulation and experiment,which show the valuable guidance for engineers to design and analyze the NL ADRC-based control system.
文摘提出了一种基于改进线性扩张状态观测器(linear extended state observer,LESO)的电力电子负载自抗扰控制策略,解决了传统控制方法动态性能较差、对系统参数依赖等问题。建立LCL(line current loop)变换器在α-β坐标系下的数学模型,分析线性自抗扰控制(linear active disturbance rejection control,LADRC)中LESO的误差,对观测器控制输出部分的结构进行改进,以减小观测值中来自控制输出信号的误差。通过LESO求取指令电流微分,引入线性误差反馈控制率中,减小传统LADRC的固有误差。分析系统的频域特性,研究参数和控制策略对系统的影响。通过仿真和半实物仿真,验证了改进策略能明显改善传统LADRC跟踪动态信号时的波形畸变、相位滞后等问题,使变换器实现对各类负载的精确模拟。
文摘现有对双馈风电机组低电压穿越(low voltage ride through,LVRT)的研究中,主要的LVRT措施为投入撬棒保护电路,但该措施较为单一和被动,并且风机还需要吸收一定的无功,因此风机系统难以取得良好的LVRT性能。针对这一问题,提出一种含线性自抗扰控制(linear active disturbance rejection control,LADRC)的定、转子侧协同LVRT策略。定子侧采用串联动态阻抗以抑制转子电流升高;网侧变流器采用LADRC提高直流侧母线电压的抗扰能力,并为转子侧变流器附加控制策略创造良好的工作条件。针对不同程度的电压跌落,转子侧变流器分别采用无功补偿和磁链主动衰减的控制策略以优化LVRT期间的无功输出能力。在考虑相位跳变的基础上,分析了采用LADRC以及定、转子侧协同LVRT策略下的双馈风机短路特性,并对短路电流进行了解析。最后,通过仿真验证了该协同LVRT策略的有效性以及短路电流解析式的正确性。
