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线性/非线性自抗扰切换控制方法研究

李杰 齐晓慧 夏元清 高志强

李杰, 齐晓慧, 夏元清, 高志强. 线性/非线性自抗扰切换控制方法研究. 自动化学报, 2016, 42(2): 202-212. doi: 10.16383/j.aas.2016.c150338
引用本文: 李杰, 齐晓慧, 夏元清, 高志强. 线性/非线性自抗扰切换控制方法研究. 自动化学报, 2016, 42(2): 202-212. doi: 10.16383/j.aas.2016.c150338
LI Jie, QI Xiao-Hui, XIA Yuan-Qing, GAO Zhi-Qiang. On Linear/Nonlinear Active Disturbance Rejection Switching Control. ACTA AUTOMATICA SINICA, 2016, 42(2): 202-212. doi: 10.16383/j.aas.2016.c150338
Citation: LI Jie, QI Xiao-Hui, XIA Yuan-Qing, GAO Zhi-Qiang. On Linear/Nonlinear Active Disturbance Rejection Switching Control. ACTA AUTOMATICA SINICA, 2016, 42(2): 202-212. doi: 10.16383/j.aas.2016.c150338

线性/非线性自抗扰切换控制方法研究

doi: 10.16383/j.aas.2016.c150338
基金项目: 

国家重点基础研究发展计划 (973计划) 2012CB720000

国家自然科学基金 61321002

国家自然科学基金 61225015

飞行器海上测量与控制联合实验室开放基金项目 FOM2015OF011

详细信息
    作者简介:

    李杰 军械工程学院无人机工程系博士研究生.主要研究方向为自抗扰控制理论及应用.E-mail:lijienewlife1234@163.com

    齐晓慧 军械工程学院无人机工程系教授.主要研究方向为无人机飞行控制理论及应用.E-mail:qi-xh@163.com

    高志强 美国俄亥俄州克利夫兰州立大学电机与计算机工程系副教授.主要研究方向为工程控制论的根基与实践, 特别是自抗扰控制的理念、论证和工程化.E-mail:z.gao@ieee.org

    通讯作者:

    夏元清 北京理工大学自动化学院教授.主要研究方向为网络化控制系统, 鲁棒控制, 信号处理, 自抗扰控制, 飞行器控制和空天地一体化协同控制.本文通信作者.E-mail:xia_yuanqing@bit.edu.cn

On Linear/Nonlinear Active Disturbance Rejection Switching Control

Funds: 

Supported by National Basic Research Program of China (973 Program) 2012CB720000

National Natural Science Foundation of China 61321002

National Natural Science Foundation of China 61225015

the Open Funding Program of Joint Laboratory of Flight Vehicle Ocean-based Measurement and Control FOM2015OF011

More Information
    Author Bio:

    Ph. D. candidate in the Department of Unmanned Aerial Vehicle Engineering, Ordnance Engineering College. His research interest covers theory and application of active disturbance rejection control

    Professor in the Department of Unmanned Aerial Vehicle Engineering, Ordnance Engineering College. Her research interest covers flight control theory and application for unmanned aerial vehicle

    Associate professor at the Center for Advanced Control Technologies, Cleveland State University, USA. His research interest covers basic principles and the industry practice of engineering cybernetics, particularly its more recent development in active disturbance rejection control

    Corresponding author: XIA Yuan-Qing Professor in the Department of Automatic Control, Beijing Institute of Technology. His research interest covers networked control systems, robust control and signal processing, active disturbance rejection control, flight control and cooperative control. Corresponding author of this paper
  • 摘要: 非线性自抗扰控制 (Nonlinear active disturbance rejection control, NLADRC) 较线性自抗扰控制 (Linear active disturbance rejection control, LADRC) 具有跟踪精度高、抗干扰能力强等优点, 但在参数整定、稳定性分析以及控制性能分析等方面有一定的困难, 阻碍了非线性自抗扰控制在实际中的应用, 而线性自抗扰控制成为工程应用的首选.本文提出一种线性/非线性自抗扰控制切换控制方法, 该方法既综合了线性/非线性自抗扰控制的优点, 又解决了非线性自抗扰控制在参数整定、稳定性分析等方面的困难:首先, 分析线性/非线性自抗扰控制各自优缺点, 并给出了一种切换控制策略; 其次, 提出一种基于优化进行查表或利用拟合公式的参数整定方法; 再次, 提出基于劳斯判据和鲁棒波波夫判据的稳定性分析方法.通过仿真验证了该切换方法在跟踪精度、抗干扰能力等方面具有一定优势.该切换控制方法将有助于更好地发挥非线性机制在要求实现高精度、高抗扰能力场合的独特优势, 有望在工程实际中获得应用.
  • 图  1  $\mathop \lambda \nolimits_{0i}(e)$ 函数特性曲线

    Fig.  1  Characteristic curve of the function $\mathop \lambda\nolimits_{0i} (e)$

    图  2  鲁里叶系统

    Fig.  2  Lurie system

    图  3  基于鲁棒波波夫判据的稳定性分析

    Fig.  3  Stability analysis based on robust Popov criterion

    图  4  小扰动 (M=20) 下跟踪误差

    Fig.  4  Tracking error under M=20

    图  5  大扰动 (M'=200) 下跟踪误差

    Fig.  5  Tracking error under M'=200

    图  6  跟踪精度分析

    Fig.  6  Tracking precision

    图  7  控制量分析

    Fig.  7  Control input

    表  1  参数优化表

    Table  1  Parameter optimization

    h 噪声 M β01 β02 β03
    0.001 0.0075~0.015 30 60 240 980
    0.001 0.0025~0.0075 60 90 550 3 320
    0.001 0.001~0.0025 120 150 1 460 15 280
    0.005 0.0075~0.015 10 45 130 418
    0.005 0.0025~0.0075 30 90 540 3 350
    0.005 0.001~0.0025 60 120 1 000 8 000
    0.01 0.0075~0.015 5 30 60 125
    0.01 0.0025~0.0075 10 45 140 410
    0.01 0.001~0.0025 20 60 250 980
    下载: 导出CSV
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  • 收稿日期:  2015-06-02
  • 录用日期:  2015-10-09
  • 刊出日期:  2016-02-20

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