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惯性串联系统的自抗扰控制

李向阳 哀薇 田森平

李向阳, 哀薇, 田森平. 惯性串联系统的自抗扰控制. 自动化学报, 2018, 44(3): 562-568. doi: 10.16383/j.aas.2018.c160568
引用本文: 李向阳, 哀薇, 田森平. 惯性串联系统的自抗扰控制. 自动化学报, 2018, 44(3): 562-568. doi: 10.16383/j.aas.2018.c160568
LI Xiang-Yang, AI Wei, TIAN Sen-Ping. Active Disturbance Rejection Control of Cascade Inertia Systems. ACTA AUTOMATICA SINICA, 2018, 44(3): 562-568. doi: 10.16383/j.aas.2018.c160568
Citation: LI Xiang-Yang, AI Wei, TIAN Sen-Ping. Active Disturbance Rejection Control of Cascade Inertia Systems. ACTA AUTOMATICA SINICA, 2018, 44(3): 562-568. doi: 10.16383/j.aas.2018.c160568

惯性串联系统的自抗扰控制

doi: 10.16383/j.aas.2018.c160568
基金项目: 

国家自然科学基金 61374104

国家自然科学基金 61773170

广东省科技计划 2013A011402003

广东省自然科学基金 2016A030313505

详细信息
    作者简介:

    哀薇  华南理工大学自动化科学与工程学院副教授.主要研究方向为数据驱动控制, 自抗扰控制和工业自动化.E-mail:aiwei@scut.edu.cn

    田森平  华南理工大学自动化科学与工程学院教授.主要研究方向为迭代学习控制, 数据驱动控制和系统工程.E-mail:ausptian@scut.edu.cn

    通讯作者:

    李向阳  华南理工大学自动化科学与工程学院副教授.主要研究方向为自抗扰控制, 迭代学习控制和工业自动化.本文通信作者.E-mail:xyangli@scut.edu.cn

Active Disturbance Rejection Control of Cascade Inertia Systems

Funds: 

National Natural Science Foundation of China 61374104

National Natural Science Foundation of China 61773170

Guangdong Science and Technology Plan 2013A011402003

Natural Science Foundation of Guangdong Province of China 2016A030313505

More Information
    Author Bio:

     Associate professor at the School of Automation Science and Engineering, South China University of Technology. Her research interest covers active disturbance rejection control, data-driven control, and industrial automation

     Professor at the School of Automation Science and Engineering, South China University of Technology. His research interest covers iterative learning control, datadriven control, and system engineering

    Corresponding author: LI Xiang-Yang  Associate professor at the School of Automation Science and Engineering, South China University of Technology. His research interest covers active disturbance rejection control, iterative learning control, and industrial automation. Corresponding author of this paper
  • 摘要: 针对非线性不确定惯性串联系统的控制问题,提出了惯性串联型扩张状态观测器(Extended state observer,ESO),使其可直接对惯性串联系统的扩张状态进行估计,同时把被控对象的极点配置到期望位置,在此基础上提出了适合惯性串联系统的自抗扰控制(Active disturbance rejection control,ADRC)方法,该惯性串联型ADRC方法可以充分利用被控对象的已有知识.论文还给出了惯性串联型ADRC和基于扰动观测器(Disturbance observer,DOB)的控制方法之间的联系,指出它们具有相同的三自由度(three-degree of freedom control,3-DOF)控制系统结构和模块功能,都能实现对系统期望模型以外的总扰动进行估计和补偿.仿真结果表明,所提出的方法是有效的,惯性串联型ESO能实现系统总扰动的估计,惯性串联型ADRC能使系统输出能很好地跟踪系统参考输入.
    1)  本文责任编委 季海波
  • 图  1  自抗扰控制的系统结构

    Fig.  1  System structure of ADRC

    图  2  线性惯性串联系统

    Fig.  2  Linear inertia series system

    图  3  惯性串联型自抗扰控制结构

    Fig.  3  ADRC topology for inertia series system

    图  4  部分模型已知的惯性串联型自抗扰控制结构

    Fig.  4  ADRC topology for inertia series systems with partially known model

    图  5  基于DOB的控制的系统框图

    Fig.  5  Block diagram of DOB control system

    图  6  参考输入$r_1$和系统输出$y_1$

    Fig.  6  Reference input $r_1$ and system output $y_1$

    图  7  系统控制输入$u$

    Fig.  7  System input $u$

    图  8  系统(47)的扩张状态$z_3$及其估计${\hat z}_3$

    Fig.  8  ES $z_3$ and its estimation ${\hat z}_3$ of system (47)

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出版历程
  • 收稿日期:  2016-08-03
  • 录用日期:  2017-03-02
  • 刊出日期:  2018-03-20

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