A novel control scheme of active disturbance rejection internal model control(ADRIMC) is proposed to improve the anti-interference ability and robustness for the dead-time process. The active anti-interference concept...A novel control scheme of active disturbance rejection internal model control(ADRIMC) is proposed to improve the anti-interference ability and robustness for the dead-time process. The active anti-interference concept is introduced into the internal model control(IMC) by analyzing the relationship between IMC and disturbance observer control(DOB). Further, a design process of disturbance filter is presented to realize the active anti-interference ability for ADRIMC scheme. The disturbance filter is used to estimate an equivalent disturbance consisting of both external disturbances and internal disturbances caused by model mismatches.Simulation results demonstrate that the proposed method possesses a good disturbance rejection performance, though losing some partial dynamic performance. In other words, the proposed method shows a tradeoff between the dynamic performance and the system robust.展开更多
磁浮球作为典型的电磁悬浮系统,需要准确的理论模型以进行精密控制,因此提出一种基于修正电磁力公式的系统辨识方法及内模控制-比例积分微分(internal model control-proportional integral derivative,IMC-PID)控制器,有效提高理论模...磁浮球作为典型的电磁悬浮系统,需要准确的理论模型以进行精密控制,因此提出一种基于修正电磁力公式的系统辨识方法及内模控制-比例积分微分(internal model control-proportional integral derivative,IMC-PID)控制器,有效提高理论模型的精确度与参数整定的效率。首先,分析了电磁力公式的推导过程,建立了电磁仿真模型,对电磁力-悬浮间隙、偏置电流公式进行了修正。其次,通过采集实际电流对正弦目标信号的响应,确定了在相同电磁力下偏置电流与悬浮间隙之间的关系。使用不同质量的钢球进行上述步骤,即可得到不同电磁力下悬浮间隙与偏置电流对应关系。采用修正后的公式进行拟合,得到磁浮球实物的参数具体值。结合动力学方程,并定义平衡点处的悬浮间隙与偏置电流为位移和控制电流,推导出磁浮球系统的位移、电流刚度及精确传递函数。最后,基于内模控制理论设计IMC-PID控制器,通过单个参数计算出PID全部参数,并进行了控制仿真与试验验证。试验结果表明,系统辨识得到的理论模型与实物系统的响应高度吻合,验证了系统辨识结果的准确性,IMC-PID控制器也大大提高了参数整定效率。展开更多
针对永磁无刷直流电机调速系统提出了一种改进的内模PI(Internal model control PI,IMC-PI)控制方法。根据内模控制原理设计出PI控制器,引入一种作用函数,将其与PI控制器串联构成改进的IMC-PI控制器。作用函数为偏差的微分表达式,其阶...针对永磁无刷直流电机调速系统提出了一种改进的内模PI(Internal model control PI,IMC-PI)控制方法。根据内模控制原理设计出PI控制器,引入一种作用函数,将其与PI控制器串联构成改进的IMC-PI控制器。作用函数为偏差的微分表达式,其阶次的选择应保证系统开环传递函数严格真实。改进IMC-PI控制可使系统的调节过程分为作用函数趋近零和保持为零的两个阶段,从而保证系统偏差按照作用函数等于零确定的轨迹趋近于零。仿真和实验结果表明方法可有效提高控制系统的性能。展开更多
A new cascade control program was proposed based on modified internal model control to handle stable,unstable and integrating processes with time delay.The program had totally four controllers of which the secondary l...A new cascade control program was proposed based on modified internal model control to handle stable,unstable and integrating processes with time delay.The program had totally four controllers of which the secondary loop had two controllers and the primary loop had two controllers.The two secondary loop controllers were designed using IMC technique.They were decoupled completely and could be adjusted independently,which avoided the undesirable influence on performance of the primary controllers.The main controller in the primary loop was devised as a PID using the method of minimum sensitivity,which could guarantee not only the nominal performance but also the robust stability of the system.A setpoint filter was added in the primary loop to improve the tracking performance.All the controllers of the two closed-loops were designed analytically,and could be adjusted and optimized by single parameter respectively.Simulations were carried out on three various processes with time delay,and the results show that the proposed method can provide a better performance of both set-point tracking and disturbance rejection and robustness against parameters perturbation.展开更多
The motivation of this work is to obtain single PI/PID tuning formula for different types of processes with enhanced disturbance rejection performance. The proposed tuning formula consistently gives better performance...The motivation of this work is to obtain single PI/PID tuning formula for different types of processes with enhanced disturbance rejection performance. The proposed tuning formula consistently gives better performance in comparison to several well-known methods at the same degree of robustness for stable, integrating and unstable processes. For the selection of the closed-loop time constant(τc), a guideline is provided over a broad range of time-delay/time-constant ratios on the basis of the peak of maximum sensitivity(Ms). An analysis has been performed for the uncertainty margin with the different process parameters for the robust controller design. It gives the guideline of the Ms-value settings for the PI controller designs based on the process parameters uncertainty. Furthermore, a relationship has been developed between Ms-value and uncertainty margin with the different process parameters(k, τ and θ). Simulation study has been conducted for the broad class of processes and the controllers are tuned to have the same degree of robustness by measuring the maximum sensitivity, Ms, in order to obtain a reasonable comparison.展开更多
基金Project(61273132)supported by the National Natural Foundation of ChinaProject(20110010010)supported by Higher School Specialized Research Fund for the Doctoral Program,China
文摘A novel control scheme of active disturbance rejection internal model control(ADRIMC) is proposed to improve the anti-interference ability and robustness for the dead-time process. The active anti-interference concept is introduced into the internal model control(IMC) by analyzing the relationship between IMC and disturbance observer control(DOB). Further, a design process of disturbance filter is presented to realize the active anti-interference ability for ADRIMC scheme. The disturbance filter is used to estimate an equivalent disturbance consisting of both external disturbances and internal disturbances caused by model mismatches.Simulation results demonstrate that the proposed method possesses a good disturbance rejection performance, though losing some partial dynamic performance. In other words, the proposed method shows a tradeoff between the dynamic performance and the system robust.
文摘磁浮球作为典型的电磁悬浮系统,需要准确的理论模型以进行精密控制,因此提出一种基于修正电磁力公式的系统辨识方法及内模控制-比例积分微分(internal model control-proportional integral derivative,IMC-PID)控制器,有效提高理论模型的精确度与参数整定的效率。首先,分析了电磁力公式的推导过程,建立了电磁仿真模型,对电磁力-悬浮间隙、偏置电流公式进行了修正。其次,通过采集实际电流对正弦目标信号的响应,确定了在相同电磁力下偏置电流与悬浮间隙之间的关系。使用不同质量的钢球进行上述步骤,即可得到不同电磁力下悬浮间隙与偏置电流对应关系。采用修正后的公式进行拟合,得到磁浮球实物的参数具体值。结合动力学方程,并定义平衡点处的悬浮间隙与偏置电流为位移和控制电流,推导出磁浮球系统的位移、电流刚度及精确传递函数。最后,基于内模控制理论设计IMC-PID控制器,通过单个参数计算出PID全部参数,并进行了控制仿真与试验验证。试验结果表明,系统辨识得到的理论模型与实物系统的响应高度吻合,验证了系统辨识结果的准确性,IMC-PID控制器也大大提高了参数整定效率。
文摘针对永磁无刷直流电机调速系统提出了一种改进的内模PI(Internal model control PI,IMC-PI)控制方法。根据内模控制原理设计出PI控制器,引入一种作用函数,将其与PI控制器串联构成改进的IMC-PI控制器。作用函数为偏差的微分表达式,其阶次的选择应保证系统开环传递函数严格真实。改进IMC-PI控制可使系统的调节过程分为作用函数趋近零和保持为零的两个阶段,从而保证系统偏差按照作用函数等于零确定的轨迹趋近于零。仿真和实验结果表明方法可有效提高控制系统的性能。
基金Project(J11LG02) supported by the Science and Technology Funds of Education Department of Shandong Province,China
文摘A new cascade control program was proposed based on modified internal model control to handle stable,unstable and integrating processes with time delay.The program had totally four controllers of which the secondary loop had two controllers and the primary loop had two controllers.The two secondary loop controllers were designed using IMC technique.They were decoupled completely and could be adjusted independently,which avoided the undesirable influence on performance of the primary controllers.The main controller in the primary loop was devised as a PID using the method of minimum sensitivity,which could guarantee not only the nominal performance but also the robust stability of the system.A setpoint filter was added in the primary loop to improve the tracking performance.All the controllers of the two closed-loops were designed analytically,and could be adjusted and optimized by single parameter respectively.Simulations were carried out on three various processes with time delay,and the results show that the proposed method can provide a better performance of both set-point tracking and disturbance rejection and robustness against parameters perturbation.
基金the support provided by King Abdulaziz City for Science and Technology (KACST) through the "KACST Annual Program" at King Fahd University of Petroleum & Minerals (KFUPM) for funding this work through project number AT-32-41
文摘The motivation of this work is to obtain single PI/PID tuning formula for different types of processes with enhanced disturbance rejection performance. The proposed tuning formula consistently gives better performance in comparison to several well-known methods at the same degree of robustness for stable, integrating and unstable processes. For the selection of the closed-loop time constant(τc), a guideline is provided over a broad range of time-delay/time-constant ratios on the basis of the peak of maximum sensitivity(Ms). An analysis has been performed for the uncertainty margin with the different process parameters for the robust controller design. It gives the guideline of the Ms-value settings for the PI controller designs based on the process parameters uncertainty. Furthermore, a relationship has been developed between Ms-value and uncertainty margin with the different process parameters(k, τ and θ). Simulation study has been conducted for the broad class of processes and the controllers are tuned to have the same degree of robustness by measuring the maximum sensitivity, Ms, in order to obtain a reasonable comparison.
