Trajectory tracking control based on linear active disturbance rejection controller for 6-DOF robot manipulator

The trajectory tracking control for a 6-DOF robot manipulator with multiple inputs and outputs,non-linearity and strong coupling is studied.Firstly,a dynamical model for the 6-DOF robot manipulator is designed.From the view point of practical engineering,considering the model uncertainties and external disturbances,the robot manipulator is divided into 6 independent joint subsystems,and a linear active disturbance rejection controller(LADRC)is developed to track trajectory for each subsystem respectively.LADRC has few parameters that are easy to be adjusted in engineering.Linear expansion state observer(LESO)as the uncertainty observer is able to estimate the general uncertainties effectively.Eventually,the validity and robustness of the proposed method adopted in 6-DOF robot manipulator are demonstrated via numerical simulations and 6-DOF robot manipulator experiments,which is of practical value in engineering application.

Application of linear active disturbance rejection control for photoelectric tracking system

Dynamic characteristics and tracking precision are studied in the photoelectric tracking system and a linear active disturbance rejection control( LADRC) scheme is proposed for position loop. A current and speed controller is designed by a transfer function model,which is obtained by adaptive differential evolution. Model error,friction and nonlinear factor existing in position loop are treated as ‘disturbance',which is estimated and compensated by generalized proportional integral( GPI)observer. Comparative results are provided to demonstrate the remarkable performance of the proposed method. It turns out that the proposed scheme is successful and has superior features,such as quick dynamic response,low overshoot and high tracking precision. Furthermore,with the proposed method,friction is suppressed effectively.

Fuzzy Sliding Mode Active Disturbance Rejection Control of an Autonomous Underwater Vehicle-Manipulator System

In this paper, a fuzzy sliding mode active disturbance rejection control(FSMADRC) scheme is proposed for an autonomous underwater vehicle-manipulator system(AUVMS) with a two-link and three-joint manipulator. First, the AUVMS is separated into nine subsystems, and the combined effects of dynamic uncertainties, hydrodynamic force, unknown disturbances, and nonlinear coupling terms on each subsystem are lumped into a single total disturbance. Next, a linear extended state observer(LESO) is presented to estimate the total disturbance. Then, a sliding mode active disturbance rejection control(SMADRC) scheme is proposed to enhance the robustness of the control system. The stability of the SMADRC and the estimation errors of the LESO are analyzed. Because it is difficult to simultaneously adjust several parameters for a LESO-based SMADRC scheme, a fuzzy logic control(FLC) scheme is used to formulate the FSMADRC to determine the appropriate parameters adaptively for practical applications. Finally, two AUVMS tasks are illustrated to test the trajectory tracking performance of the closed-loop system and its ability to reject and attenuate the total disturbance. The simulation results show that the proposed FSMADRC scheme achieves better performance and consume less energy than conventional PID and FLC techniques.

Disturbances rejection optimization based on improved two-degree-of-freedom LADRC for permanent magnet synchronous motor systems

Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturbance suppression and have poor performance in suppressing complex nonlinear disturbances.In order to address these issues,this paper proposes an improved two-degree-of-freedom LADRC(TDOF-LADRC)strategy,which can enhance the disturbance rejection performance of the system while decoupling entirely the system's dynamic and anti-disturbance performance to boost the system robustness and simplify controller parameter tuning.PMSM models that consider total disturbances are developed to design the TDOF-LADRC speed controller accurately.Moreover,to evaluate the control performance of the TDOF-LADRC strategy,its stability is proven,and the influence of each controller parameter on the system control performance is analyzed.Based on it,a comparison is made between the disturbance observation ability and anti-disturbance performance of TDOF-LADRC and CLADRC to prove the superiority of TDOF-LADRC in rejecting disturbances.Finally,experiments are performed on a 750 W PMSM experimental platform,and the results demonstrate that the proposed TDOF-LADRC exhibits the properties of two degrees of freedom and improves the disturbance rejection performance of the PMSM system.

Fractional-Order Proportional-Integral-Derivative Linear Active Disturbance Rejection Control Design and Parameter Optimization for Hypersonic Vehicles with Actuator Faults

The hypersonic vehicle model is characterized by strong coupling,nonlinearity,and acute changes of aerodynamic parameters,which are challenging for control system design.This study investigates a novel compound control scheme that combines the advantages of the Fractional-Order Proportional-Integral-Derivative(FOPID)controller and Linear Active Disturbance Rejection Control(LADRC)for reentry flight control of hypersonic vehicles with actuator faults.First,given that the controller has adjustable parameters,the frequency-domain analysis-method-based parameter tuning strategy is utilized for the FOPID controller and LADRC method(FOLADRC).Then,the influences of the actuator model on the anti-disturbance capability and parameter tuning of the FOLADRC-based closed-loop control system are analyzed.Finally,the simulation results indicate that the proposed FOLADRC approach has satisfactory performance in terms of rapidity,accuracy,and robustness under the normal operating condition and actuator fault condition.

Robust Disturbance Rejection Based Control with Extended-state Resonant Observer for Sway Reduction in Uncertain Tower-cranes

In this paper, the problem of load transportation and robust mitigation of payload oscillations in uncertain tower-cranes is addressed. This problem is tackled through a control scheme based on the philosophy of active-disturbance-rejection. Here, a general disturbance model built with two dominant components: polynomial and harmonic, is stated. Then, a disturbance observer is formulated through state-vector augmentation of the tower-crane model. Thus, better performance of estimations for system states and disturbances is achieved. The control law is then formulated to actively reject the disturbances but also to accommodate the closed-loop system dynamics even under system uncertainty. The proposed control schema is validated via experimentation using a small-scale tower-crane,and compared with other relevant active disturbance rejection control(ADRC)-based techniques. The experimental results show that the proposed control scheme is robust under parametric uncertainty of the system, and provides improved attenuation of payload oscillations even under system uncertainty.

光电稳定平台的分数阶降阶自抗扰控制设计

为了提高光电稳定平台的动态性能与抗干扰能力,提出一种分数阶降阶自抗扰控制(FO-RADRC)算法。首先,利用系统输出信号的可测性和可靠性,采用降阶线性扩张状态观测器,提高观测效率和精度;然后,采用分数阶PD(FOPD)作为控制律,从而增强系统的稳定性和控制性能。通过数值仿真实验,与线性自抗扰算法和降阶线性自抗扰算法进行了对比分析。结果表明,所提算法在动态性能指标上均优于对比算法,且在不同频率的等效扰动作用下具有更强的扰动抑制能力。这些结果验证了所提改进算法在提升光电稳定平台控制效果方面的有效性和创新性。

High AOA decoupling control for aircraft based on ADRC

In this paper, a practical decoupling control scheme for fighter aircraft is proposed to achieve high angle of attack(AOA)tracking and super maneuver action by utilizing the thrust vector technology. Firstly, a six degree-of-freedom(DOF) nonlinear model with 12 variables is given. Due to low sufficiency of the aerodynamic actuators at high AOA, a thrust vector model with rotatable engine nozzles is derived. Secondly, the active disturbance rejection control(ADRC) is used to realize a three-channel decoupling control such that a strong coupling between different channels can be treated as total disturbance, which is estimated by the designed extended state observer. The control surface allocation is implemented by the traditional daisy chain method. Finally,the effectiveness of the presented control strategy is demonstrated by some numerical simulation results.

基于一阶线性自抗扰控制器的同步磁阻电机无速度传感器控制

同步磁阻电机在实现无速度传感器控制时出现交叉耦合效应,导致dq轴电感随着电流发生非线性变化,转速环使用传统PI控制器已无法满足系统较强的抗扰性能和较高的转子位置估计精度。为了改善此问题,该文提出一阶线性自抗扰控制器的同步磁阻电机无速度传感器控制策略,利用其机械运动状态方程,将同步磁阻电机的交叉耦合效应及负载扰动变化视为扰动。首先通过扩张状态观测器对负载扰动快速观测并进行前馈补偿,以此来提高系统抗扰性;其次利用静止实验法,得到dq轴磁链与电流的非线性函数模型,将该模型运用至磁链观测器中,以减小交叉耦合效应,提高转子位置估计精度;最后在1.5 kW的同步磁阻电机对拖加载实验平台上进行实验,验证了该控制方案的有效性。

基于sigmoid滤波器的永磁轮毂电机自抗扰控制

相比燃油拖拉机,电动拖拉机具有节能高效、绿色清洁的优点。分布式驱动电动拖拉机结构简单、控制维度多,能进一步提高电动拖拉机的工作效率和作业精度。但是电机检测转速噪声导致轮毂电机速度波动严重,复杂路面及多种作业工况下进一步加剧了上述问题,严重降低了拖拉机的作业质量。针对上述问题,该研究提出一种基于sigmoid滤波器的线性自抗扰控制(linear active disturbance rejection control,LADRC)以提高轮毂电机的转速稳定性和抗扰动能力。该控制策略在传统LADRC的基础上引入sigmoid滤波器至扩张状态观测器(extended state observer,ESO),根据输入噪声信号误差变化改变滤波器带宽,以抑制观测误差中的中高频干扰信号,同时避免滤波器积分环节对轮毂电机速度跟踪快速性的影响,具有较快的收敛性。搭建试验平台对所提出控制策略进行试验验证,结果表明:与传统LADRC策略相比,本文所提控制策略在变速和变载工况下的转速脉动分别减小了32%和41.67%,iq电流脉动分别减小了6.25%和4.17%,可在快速、准确跟踪给定转速的同时,大幅提高轮毂电机驱动系统的噪声抑制性能,为复杂环境下电动拖拉机高精度作业提供技术参考。

基于级联型扩张状态观测器的直流微电网低压负载接口变换器自抗扰稳压研究

直流微电网负载侧供压稳定是实现新能源电力高水平消纳的重要前提。为维持低压负载侧电压稳定,利用级联型扩张状态观测器提高扰动的估计重构精度与速度,将二阶自抗扰控制技术引入低压侧稳压控制。首先,在考虑扰动存在的低压接口变换器动态模型基础上实现对于稳压控制策略的系统设计。之后,在时域上分析级联型扩张状态观测器对于扰动重估精度的提升效果,利用线性等效框架在复频域上分析系统对于总扰动的抑制性能,以及系统模型不确定下对于动态性能的影响。此外,将Lyapunov理论运用于分析所提稳压控制策略的稳定性,表明该系统在工程上稳定。最后仿真实验验证了所提出稳压策略的正确性与有效性,且对于扰动具有较好的抑制性。

基于TNESO的PMSLM分数阶自抗扰控制

线性自抗扰控制(LADRC)以结构简单、易于实现且抗干扰能力强的特点在永磁同步直线电机(PMSLM)中得到广泛应用,但电机启动和负载突变会导致LADRC系统中的线性扩张状态观测器(LESO)扰动估计精度下降。为此,提出一种基于时变增益非线性扩张状态观测器(TNESO)的PMSLM分数阶自抗扰控制策略。结合LESO和非线性扰动观测器(NDOB),并根据误差与增益的关系构建动态增益函数,设计新型状态观测器TNESO;在此基础上,以分数阶PDμ控制律代替线性状态误差反馈控制律(LSEF),建立改进型自抗扰速度控制系统,以进一步提高电机控制的实时性和鲁棒性。仿真与实验结果表明:所设计的速度控制系统可以有效减少直线电机启动、负载突变时的观测响应时间,抑制观测初始时刻扰动峰值,从而满足高性能的PMSLM速度控制要求。

光电经纬仪自抗扰控制方法

为提升光电经纬仪在跟踪时的响应速度和抗干扰能力,提出一种基于观测器的自抗扰控制(active disturbance rejection control,ADRC)方法。对所有已知或未知的影响直流电机工作的干扰输入进行在线估计,并通过适当的反馈控制法来补偿这些干扰;通过选取合适的观测器和控制器带宽参数,来实现良好的抗扰控制效果。仿真结果表明:基于观测器的自抗扰控制方法能有效地提高直流电机对外部干扰和内部未知参数变化的鲁棒性,具有工程应用前景。

储能交错并联双向DC-DC变换器的自抗扰控制

针对直流微电网系统中三相交错并联双向DC-DC变换器受不确定性扰动影响的问题,设计一种双闭环线性自抗扰控制策略。首先,建立双向DC-DC数学模型,通过小信号分析法推导出变换器的传递函数。其次,设计电流环为二阶线性自抗扰,电压环为一阶线性自抗扰的双闭环系统,通过设计其对应的线性扩张状态观测器和线性状态误差反馈控制律,实时估计并补偿外部干扰及系统内部不确定因素。最后,根据林纳德-奇帕特稳定判据证明控制系统的稳定性,并在MATLAB/Simulink中对3种控制策略在不同工况下进行仿真对比验证。仿真结果表明,与传统比例积分控制器相比,本文所提控制策略在储能侧电压突增、突减20%的扰动下,母线电压最大动态偏差比分别优化0.5%和0.97%且调节时间缩短78.3%和76.9%;在负载突增、突减20%的扰动下,母线电压最大动态偏差比分别优化0.79%和1.5%且调节时间缩短72%,在保证各相均流的前提下有效提高系统的动态性能和抗扰能力。

光电测量设备线性自抗扰跟踪控制研究

为了实现光电测量设备的精确跟踪控制,考虑模型参数不确定性、外界扰动等因素,从实际靶场应用角度出发,提出了双闭环PD与线性自抗扰(LADRC)相结合的跟踪控制方法。首先建立光电跟踪控制系统数学模型,设计外环PD位置控制器与内环LADRC速度控制器,搭建线性扩张状态观测器实现对系统总扰动的实时估计。通过仿真对比实验验证了PD-LADRC控制策略的有效性。结果表明:在正弦引导跟踪下基于PD-LADRC算法设备稳态误差≤0.469′,随机误差均方根值≤18.9″,具有准确的跟踪控制精度和良好的抗扰动能力。

基于联合仿真的电励磁同步电机线性自抗扰控制

针对电励磁同步电机(EESM)在车用电机控制方向的研究,通过Maxwell设计EESM有限元模型,基于Simulink搭建电机控制系统模型。然后,根据凸极EESM的电机特性和电磁转矩分析,在控制系统中采用最大转矩电流比(MTPA)矢量控制方式在Simulink-Maxwell进行EESM控制系统的联合仿真验证。同时,控制系统电流环应用线性自抗扰控制(LADRC),基于电机已知参数在LADRC中设计模型辅助—扩张状态观测器(MA-LESO),以观测和消除系统扰动变量。仿真实验表明,采用MTPA矢量控制的电机在带载时转速波动降低,带载能力增强;在电流环中采用MA-LESO的LADRC控制器能使电机转速在稳态时波动更小,在带载时的抗干扰性能更强,电机运行过程相对稳定;电机负载转矩和定子电流在空载、负载时的波形更稳定,显著提升了电机运行性能。

电磁悬浮系统的改进线性自抗扰控制方法

单点电磁悬浮系统是常导电磁磁浮列车悬浮系统的关键控制单元。针对单点电磁悬浮系统因强干扰影响导致控制性能下降的问题,提出了一种改进型线性自抗扰控制(LADRC)方法。首先,基于电磁悬浮结构及原理建立了单点悬浮系统线性化模型,并对系统稳定性进行了分析。其次,基于自抗扰控制方法设计位置外环控制器以及基于PI调节器的电流内环控制器,对线性扩张状态观测器进行改进,设计两级级联的线性扩张状态观测器提高扰动估计精确度及速度,进而提高LADRC中扩张状态观测器对系统扰动的估计能力,并在频域上分析了改进型LADRC扰动估计性能和抑制能力的优越性。最后,搭建实验环境,对改进线性自抗扰控制方法的有效性进行验证。实验结果表明,所提的改进型LADRC不仅具有良好的位置跟踪性能,同时相比传统LADRC具有更强的抗扰动能力。

基于级联线性-非线性自抗扰控制器的永磁直线同步电机速度控制策略研究

为了提升永磁直线同步电机(permanent magnet linear synchronous motor,PMLSM)在负载变化、参数摄动和其他不确定因素下的抗扰性能和速度跟踪性能,提出一种基于级联线性-非线性自抗扰控制器的PMLSM速度控制策略。首先,建立考虑负载扰动和参数失配的PMLSM数学模型;其次,设计级联线性-非线性扩张状态观测器来实时估计和补偿系统所受的不确定扰动,前级线性扩张状态观测器保证系统在大扰动下保持稳定,后级非线性扩张状态观测器利用非线性机制进一步提高系统对扰动的估计精度,从而将线性自抗扰控制和非线性自抗扰控制的优势相结合,以此提升系统的速度跟踪性能和抗扰动能力;并且,对所提控制器提出基于劳斯判据的稳定性分析方法,并对系统的抗扰性能和噪声抑制性能进行了频域分析;最后,对基于PI控制、级联线性自抗扰控制、非线性自抗扰控制和级联线性-非线性自抗扰控制的永磁直线同步电机系统进行仿真和实验对比,验证所提方法的优越性。

基于改进型超螺旋滑模线性自抗扰的永磁同步电机速度控制研究

为提升永磁同步电机调速系统中的动态响应性能和抗扰性能,提出了一种改进型超螺旋滑模线性自抗扰控制(STSM-LADRC)策略。该策略利用滑模变结构原理对LADRC中的线性扩张状态观测器(LESO)和线性状态误差反馈(LSEF)控制律进行优化。首先,设计了STSM-LESO,采用STSM控制算法对LADRC中的LESO进行改进,以提高观测器观测性能从而增强控制器的抗干扰能力;其次,利用STSM控制算法代替原有的LSEF控制律,提高控制器的动态响应性能,同时使用tanh函数替换超螺旋滑模算法中的sign函数进一步削弱滑模固有抖振,提高系统的稳定性;然后,使用李雅普诺夫理论对所提控制策略进行稳定性分析;最后,基于Matlab/Simulink仿真平台进行验证。仿真结果表明,与传统的LADRC和其他控制器相比,所提控制策略具备更好的动态响应性能和抗扰性能。

基于线性自抗扰控制的永磁同步电机驱动系统多源扰动抑制研究综述

永磁同步电机(Permanent Magnet Synchronous Motor, PMSM)驱动系统在多种工况运行条件下通常会受到多源扰动的影响而使其控制性能下降。线性自抗扰控制器(Linear Active Disturbance Rejection Controller, LADRC)由于参数整定简单以及不依赖于系统的数学模型在PMSM驱动系统中已经得到了广泛的应用。文中首先阐述了PMSM驱动系统中所存在的多源扰动类型,并且对部分扰动建立了数学模型;然后,分析了传统LADRC的局限性,并针对不同类型的扰动总结了近年来所提出的新型LADRC,同时给出了部分所提方法的算法表达式;最后,归纳总结了基于LADRC的PMSM驱动系统在抗扰控制中的发展趋势。