一种多变量自抗扰控制结构的设计研究

Study on a multivariable active disturbance rejection control structure

自抗扰控制器(active disturbance rejection control,ADRC)不依赖于被控系统的完全模型,采用扩张状态观测器(extended state observer,ESO)对系统的内扰和外扰进行实时估计,因而能取得较为理想的抗干扰效果。对于多变量系统,分散ADRC可以将通道之间的耦合看成扰动,通过各自通道的ESO进行估计。对于强耦合的多变量系统,分散ADRC可能不能及时消除耦合。本文提出一种多变量型ADRC控制结构,将静态解耦引入到ADRC控制器设计中,从而能充分利用系统已知动态特性,实现更好的解耦。采用所提方案对循环硫化床锅炉燃烧系统设计多变量ADRC控制方案,仿真结果表明该控制器具有很好的解耦性和鲁棒性。

Active disturbance rejection controller （ADRC） does not rely on the accurate model of plant.It utilizes an extended state observer （ESO） to estimate the internal and external disturbances of the plant in real time and thus can reject them quickly.For multivariable systems,decentralized ADRC treats the coupling among different channels as external disturbances,which are estimated via ESO of the individual channel.However,for multivariable systems with strong coupling,decentralized ADRC may not reduce the couping quickly enough.In this paper,a multivariable ADRC structure is proposed.Static decoupling is introduced into the ADRC design thus more information on the plants can be utilized and coupling can be reduced.The proposed method is applied to a circulating fluidized bed boiler （CFBB） combustion system to design a multivariabel control.Simulation shows that the multivariable ADRC can achieve better decoupling and good robustness.