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 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
Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturba...Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturbance suppression and have poor performance in suppressing complex nonlinear disturbances.In order to address these issues,this paper proposes an improved two-degree-of-freedom LADRC(TDOF-LADRC)strategy,which can enhance the disturbance rejection performance of the system while decoupling entirely the system's dynamic and anti-disturbance performance to boost the system robustness and simplify controller parameter tuning.PMSM models that consider total disturbances are developed to design the TDOF-LADRC speed controller accurately.Moreover,to evaluate the control performance of the TDOF-LADRC strategy,its stability is proven,and the influence of each controller parameter on the system control performance is analyzed.Based on it,a comparison is made between the disturbance observation ability and anti-disturbance performance of TDOF-LADRC and CLADRC to prove the superiority of TDOF-LADRC in rejecting disturbances.Finally,experiments are performed on a 750 W PMSM experimental platform,and the results demonstrate that the proposed TDOF-LADRC exhibits the properties of two degrees of freedom and improves the disturbance rejection performance of the PMSM system.展开更多
In this paper, a practical decoupling control scheme for fighter aircraft is proposed to achieve high angle of attack(AOA)tracking and super maneuver action by utilizing the thrust vector technology. Firstly, a six de...In this paper, a practical decoupling control scheme for fighter aircraft is proposed to achieve high angle of attack(AOA)tracking and super maneuver action by utilizing the thrust vector technology. Firstly, a six degree-of-freedom(DOF) nonlinear model with 12 variables is given. Due to low sufficiency of the aerodynamic actuators at high AOA, a thrust vector model with rotatable engine nozzles is derived. Secondly, the active disturbance rejection control(ADRC) is used to realize a three-channel decoupling control such that a strong coupling between different channels can be treated as total disturbance, which is estimated by the designed extended state observer. The control surface allocation is implemented by the traditional daisy chain method. Finally,the effectiveness of the presented control strategy is demonstrated by some numerical simulation results.展开更多
针对永磁同步电机(Permanent Magnet Synchronous Motor,PMSM)转速控制系统中存在的鲁棒性和抗干扰能力差的问题,提出了一种改进分数阶自抗扰控制器(Improved Fractional Order Active Disturbance Rejection Controller,IFOADRC),代替...针对永磁同步电机(Permanent Magnet Synchronous Motor,PMSM)转速控制系统中存在的鲁棒性和抗干扰能力差的问题,提出了一种改进分数阶自抗扰控制器(Improved Fractional Order Active Disturbance Rejection Controller,IFOADRC),代替传统非线性自抗扰控制器。首先,设计了新的非线性函数,应用于非线性分数阶扩张状态观测器(Nonlinear Fractional Order Extended State Observer,NFOESO)中,采用线性分数阶扩张状态观测器(Linear Fractional Order Extended State Observer,LFOESO)对系统总扰动进行初步估计;然后,通过设计的权重函数将该估计结果引入到非线性分数阶扩张状态观测器中,建立了改进分数阶自抗扰控制器,并且通过理论分析了该控制策略的收敛性和抗干扰能力;最后,进行了Simulink仿真和links-RT半实物实验验证。实验结果表明,所提控制策略相比传统非线性自抗扰控制器(Nonlinear Active Disturbance Rejection Controller,NLADRC)和级联扩张状态观测器的自抗扰控制器(Cascaded Linear Active Disturbance Rejection Controller,CLADRC),当电机受到速度阶跃时,调节时间在加速时分别减少了25.6%和17.6%,在减速时分别减少了10.7%和5.6%;当电机受到负载扰动时,调节时间在突加负载时分别减少了51.9%和24.2%,在突减负载时分别减少了41.5%和22.6%;验证了所提控制策略能有效增强永磁同步电机的鲁棒性和抗干扰能力。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
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(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Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturbance suppression and have poor performance in suppressing complex nonlinear disturbances.In order to address these issues,this paper proposes an improved two-degree-of-freedom LADRC(TDOF-LADRC)strategy,which can enhance the disturbance rejection performance of the system while decoupling entirely the system's dynamic and anti-disturbance performance to boost the system robustness and simplify controller parameter tuning.PMSM models that consider total disturbances are developed to design the TDOF-LADRC speed controller accurately.Moreover,to evaluate the control performance of the TDOF-LADRC strategy,its stability is proven,and the influence of each controller parameter on the system control performance is analyzed.Based on it,a comparison is made between the disturbance observation ability and anti-disturbance performance of TDOF-LADRC and CLADRC to prove the superiority of TDOF-LADRC in rejecting disturbances.Finally,experiments are performed on a 750 W PMSM experimental platform,and the results demonstrate that the proposed TDOF-LADRC exhibits the properties of two degrees of freedom and improves the disturbance rejection performance of the PMSM system.
基金supported by the National Natural Science Foundation of China(61973175,61973172)。
文摘In this paper, a practical decoupling control scheme for fighter aircraft is proposed to achieve high angle of attack(AOA)tracking and super maneuver action by utilizing the thrust vector technology. Firstly, a six degree-of-freedom(DOF) nonlinear model with 12 variables is given. Due to low sufficiency of the aerodynamic actuators at high AOA, a thrust vector model with rotatable engine nozzles is derived. Secondly, the active disturbance rejection control(ADRC) is used to realize a three-channel decoupling control such that a strong coupling between different channels can be treated as total disturbance, which is estimated by the designed extended state observer. The control surface allocation is implemented by the traditional daisy chain method. Finally,the effectiveness of the presented control strategy is demonstrated by some numerical simulation results.
文摘针对永磁同步电机(Permanent Magnet Synchronous Motor,PMSM)转速控制系统中存在的鲁棒性和抗干扰能力差的问题,提出了一种改进分数阶自抗扰控制器(Improved Fractional Order Active Disturbance Rejection Controller,IFOADRC),代替传统非线性自抗扰控制器。首先,设计了新的非线性函数,应用于非线性分数阶扩张状态观测器(Nonlinear Fractional Order Extended State Observer,NFOESO)中,采用线性分数阶扩张状态观测器(Linear Fractional Order Extended State Observer,LFOESO)对系统总扰动进行初步估计;然后,通过设计的权重函数将该估计结果引入到非线性分数阶扩张状态观测器中,建立了改进分数阶自抗扰控制器,并且通过理论分析了该控制策略的收敛性和抗干扰能力;最后,进行了Simulink仿真和links-RT半实物实验验证。实验结果表明,所提控制策略相比传统非线性自抗扰控制器(Nonlinear Active Disturbance Rejection Controller,NLADRC)和级联扩张状态观测器的自抗扰控制器(Cascaded Linear Active Disturbance Rejection Controller,CLADRC),当电机受到速度阶跃时,调节时间在加速时分别减少了25.6%和17.6%,在减速时分别减少了10.7%和5.6%;当电机受到负载扰动时,调节时间在突加负载时分别减少了51.9%和24.2%,在突减负载时分别减少了41.5%和22.6%;验证了所提控制策略能有效增强永磁同步电机的鲁棒性和抗干扰能力。
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。
