PI型自抗扰广义预测控制的性能分析

Performance analysis of PI-type active disturbance rejection generalized predictive control

为克服自抗扰控制(active disturbance rejection control,ADRC)算法在大时滞系统中的局限性,减小PI型广义预测控制(PI-type generalized predictive control,PI-GPC)算法的在线计算量,我们在先前的研究中提出了PI型自抗扰广义预测控制(PI-type active disturbance rejection generalized predictive control,PI-ADRGPC)算法。本文通过频域分析方法,对PI-ADRGPC算法进行了稳定性分析,利用PI-ADRGPC算法离散形式的开环传递函数绘制其伯德图,分析了参数变化对PI-ADRGPC性能的影响。通过绘制奈奎斯特曲线,分析了PI-ADRGPC算法的稳定性。通过控制一阶惯性环节以及船舶航向控制系统验证了所提出算法的性能。研究结果表明:与ADRC-GPC算法相比,PI-ADRGPC算法的响应速度更快、控制效果更好。

To overcome the limitations of the active disturbance rejection control(ADRC)algorithm in large time-delay systems and reduce the amount of online calculation of the PI-type generalized predictive control(PI-GPC)algorithm,we proposed the PI-type active disturbance rejection generalized predictive control(PI-ADRGPC)algorithm in our previous research.In this paper,the frequency domain analysis method is used to analyze the stability of the PI-ADRGPC control algorithm.By using the open-loop transfer function of the discrete form of the PI-GPC algorithm to draw the Bode diagram,the influence of parameter changes on the performance of PI-ADRGPC is analyzed.By drawing the Nyquist curve,the stability of the PI-ADRGPC algorithm is analyzed.The performance of the proposed algorithm is verified by controlling the first-order inertial system and the ship heading control system.The research results show that compared with the ADRC-GPC algorithm,the PI-ADRGPC algorithm has a faster response speed and better control effect.