一类多变量系统的自抗扰非线性动态解耦控制

Active-disturbance-rejection dynamic nonlinear decoupling control for a class of multivariable systems

针对一类多变量系统控制中的耦合问题,提出了一种基于自抗扰技术的非线性动态解耦控制(ADRC)方法。该方法不依赖于系统的精确数学模型,分别在控制器耦合矩阵部分已知和未知的情形下,在局部静态解耦的基础上,将各子系统的模型摄动、外扰和包括输入变量相互作用在内的动态耦合视为各通道上的扰动总和,通过引入虚拟控制和状态量,设计扩张状态观测器(ESO)估计总扰动并进行反馈补偿,进而再对各解耦子对象分别设计非线性单输入单输出ADRC以保证闭环系统稳定。最后以蒸馏塔模型的过程控制仿真验证了该方法具有良好的动态解耦效果,对模型不确定性和外部扰动具有较好的鲁棒性和适应能力。

For the problem of coupling in a class of multiple input multiple output（MIMO）systems,this paper proposes a dynamic nonlinear decoupling control method based on active disturbance rejection control（ADRC）.This method does not rely on the accurate model of the system.According to the partly known and unknown coupling matrix of the controller respectively,this method takes the model perturbation,the external disturbance and the dynamic coupling including the interaction of the input variables as a total disturbance to each channel based on the local static decoupling.By introducing virtual control and state variables,the extended state observer（ESO）is designed to estimate the total disturbance and then it is fed back to the controller to compensate the disturbances.And then,the non-linear SISO ADRC is designed to ensure the stability of the closed-loop system for each decoupling sub-object.Finally,the simulation results of a distillation column model control show that the designed controller not only has good decoupling performance,but also ensures good robustness and adaptability in the condition of modeling uncertainty and external disturbance.