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.

Temperature Control of Proton Exchange Membrane Fuel Cell Based on Linear Active Disturbance Rejection Control

The performance of proton exchange membrane fuel cells is very sensitive to temperature. The electrochemical reaction results directly in temperature variations in the proton exchange membrane fuel cell. Ensuring effective temperature control is crucial to ensure fuel cell reliability and durability. This paper uses active disturbance rejection control in the thermal management system to maintain the operating temperature and the stack inlet and outlet temperature difference at the set value. First, key cooling system modules such as expansion tanks, coolant circulation pumps and radiators based on Simulink were built. Then, physical modeling and simulation of the fuel cell cooling system was carried out. In order to ensure the effectiveness of the control strategy and reduce the parameter tuning workload, an active disturbance rejection control parameter optimization method using an elite genetic algorithm was proposed. When the optimized control strategy responds to input disturbances, the maximum overshoot of the system is only 1.23% and can reach stability again in 30 s, so the fuel cell temperature can be controlled effectively. Simulation results show that the optimized control strategy can effectively control the stack temperature and coolant temperature difference under the influence of stepped charging current without interference or with interference, and has strong robustness and anti-interference capability.

基于卡尔曼滤波的改进ADRC风电制动器控制策略研究

为了提高风电制动器的抗干扰能力和控制精度,在传统三闭环系统的基础上,提出改进自抗扰控制并融合卡尔曼滤波算法.在扩张状态观测器中引入速度跟踪情况,将传统的“大带宽、小误差”改进为“小带宽、小误差”,提高观测器的观测效率.在误差反馈控制率中引入新型指数趋近律的滑模控制,增强控制效果.在电流环中引入卡尔曼滤波算法,降低电流噪声.通过MATLAB/Simulink建立风电制动系统的数学模型,与传统自抗扰控制策略和PID控制策略进行对比分析.结果表明:改进后的控制策略提高了响应速度,降低了启动转矩和电流噪声;制动器在不同工况下均展现出来良好的控制效果和抗干扰能力,提升了系统的鲁棒性和动态性能.

基于改进型ADRC的PMSM无位置传感器控制

针对永磁同步电机矢量控制中传统速度环PI调节器存在协调性与抗干扰能力差的问题,引入自抗扰控制(ADRC)替代速度环PI调节器,考虑到线性ADRC中PD控制存在性能较差的缺点,选择滑模控制代替PD控制,提出改进型ADRC控制方法;同时采用模型参考自适应系统(MRAS)取代传统机械式位置传感器对电机的转子位置进行检测,实现了永磁同步电机无位置传感器控制。通过采用改进型ADRC与MRAS相结合的控制方法,电机控制系统具有了更好的动态响应速度和抗干扰能力。最后通过永磁同步电机对拖实验平台对电机在转速恒定负载突变和带载启动转速突变两种工况下进行实验,验证了改进型ADRC与MRAS相结合的控制策略的有效性。

Generalized-Extended-State-Observer and Equivalent-Input-Disturbance Methods for Active Disturbance Rejection: Deep Observation and Comparison

Active disturbance-rejection methods are effective in estimating and rejecting disturbances in both transient and steady-state responses.This paper presents a deep observation on and a comparison between two of those methods:the generalized extended-state observer(GESO)and the equivalent input disturbance(EID)from assumptions,system configurations,stability conditions,system design,disturbance-rejection performance,and extensibility.A time-domain index is introduced to assess the disturbance-rejection performance.A detailed observation of disturbance-suppression mechanisms reveals the superiority of the EID approach over the GESO method.A comparison between these two methods shows that assumptions on disturbances are more practical and the adjustment of disturbance-rejection performance is easier for the EID approach than for the GESO method.

基于NLADRC的水下飞行器姿态控制算法

针对水下飞行器系统模型中非线性强、并且在水下运动的过程中常遇到各种干扰的问题,提出一种抗扰性较强的非线性自抗扰姿态控制算法。根据刚体动力学理论,得到水下飞行器的三自由度俯仰运动模型,并详细阐述自抗扰控制器的结构及各个组成部分,确定参数整定的原则。仿真表明本算法可以通过单一改变观测器和控制器带宽大小而完成对姿态跟踪控制的调整,与传统PID控制和最优控制相比,非线性自抗扰控制器喷管摆角变化幅度和超调量更小、过渡时间更短,在有脉冲力矩干扰情况下,控制效果更好,为后面水下飞行器的进一步实验提供理论依据。

Design and analysis of active disturbance rejection control for time-delay systems using frequency-sweeping

For the typical first-order systems with time-delay,this paper explors the control capability of linear active disturbance rejection control(LADRC).Firstly,the critical time-delay of LADRC is analyzed using the frequency-sweeping method and the Routh criterion,and the stable time-delay interval starting from zero is accurately obtained,which reveals the limitations of general LADRC on large time-delay.Then in view of the large time-delay,an LADRC controller is developed and verified to be effective,along with the robustness analysis.Finally,numerical simulations show the accuracy of critical time-delay,and demonstrate the effectiveness and robustness of the proposed controller compared with other modified LADRCs.

面向天线跟踪系统的ADRC控制器设计及参数优化

针对传统自抗扰控制器存在参数整定困难及控制器效果有待改善的问题,提出了一种基于改进型Fal函数的永磁同步电机位置自抗扰控制器控制策略,旨在优化伺服系统的控制效果。设计了Le_fal函数以解决Fal函数在定义域区间的不连续性问题和拐点处输出增益的抖动问题,减少了控制器待整定参数。针对自抗扰控制器参数难以整定的问题,采用粒子群算法对控制器参数进行优化。仿真实验结果表明,基于粒子群的改进型自抗扰控制器参数优化算法将超调量从传统自抗扰控制器的3.1016%降低至0.3375%,将调节时间从3.08 s降低到0.47 s,将稳态误差从0.0633降低至0.0162。结果表明,改进后的自抗扰控制器具有更好的快速性和鲁棒性。

Application of Time Scale to Parameters Tuning of Active Disturbance Rejection Controller for Induction Motor

Active disturbance rejection controller (ADRC) has good performance in induction motor (IM) control system, but controller parameter is difficult to tune. A method of tuning ADRC parameter by time scale is analyzed. The IM time scale is obtained by theoretical analysis. Combining the relations between scale time and ADRC parameters, ADRC parameter tuning in IM vector control based stator flux oriented is obtained. This parameter tuning method is validated by simulations and it provides a new technique for tuning of ADRC parameters of IM.

基于迭代策略的自适应ADRC磁轴承控制仿真

针对磁悬浮轴承位置控制过程中存在非线性耦合、内外部扰动不确定性的问题,提出了一种基于自抗扰控制的四自由度磁轴承迭代学习控制策略。首先依据四自由度磁悬浮轴承系统模型搭建自抗扰控制器,其次将估计的总扰动通过间接迭代控制在线调整扩张状态观测器的带宽,实现不同增益下观测器参数的自适应整定。Simulink仿真实验数据表明:系统约在0.14 s处达到稳定,加入干扰后约0.05 s恢复稳定;基于迭代控制的自适应ADRC四自由度磁悬浮轴承控制性能好,同时调节速度快,具有较强的抗干扰能力。经比例-微分型间接迭代学习控制律在线更新带宽后,超调量小且跟踪目标误差积分性能指标小。

基于WNN参数整定的ADRC在火箭炮伺服系统中的应用

针对多管火箭炮交流伺服系统存在变负载、强耦合和不确定性扰动等非线性问题,提出一种优化型小波神经网络自抗扰控制器(WNN-ADRC)。简化电流环节得到被控系统的数学模型,将小波神经网络(waveletneural network,WNN)嵌入自抗扰控制器中进行参数整定,利用分层调整学习速率的方法优化小波神经网络的学习算法得到WNN-ADRC,采用WNN-ADRC控制火箭炮伺服系统,实现对非线性特性的精准估计和补偿。数值仿真结果表明:相对于传统的自抗扰控制器,WNN-ADRC能改善伺服系统的静态响应和动态性能,具有响应速度快、控制精度高的优点。

基于LADRC的柔性多状态开关平滑切换策略

为实现多端口柔性多状态开关(flexible multi-state switches,FMSS)在所连馈线发生故障时的平滑切换,该文提出一种基于线性自抗扰控制(linear active disturbance rejection control,LADRC)的平滑切换策略,使用LADRC代替比例积分(proportional integral,PI)控制器的直流电压外环并设计解耦状态观测器以便控制器参数调节,引入内环电流指令值反馈以减小其在控制模式切换时的变化幅度,实现FMSS控制模式的平滑切换。通过MATLAB/Simulink仿真,验证了馈线故障出现在PQ或UdcQ控制端口的连接处时,采用基于LADRC的平滑切换策略均可显著减小FMSS的直流电压偏移率,使端口有功功率过渡平滑,迅速恢复稳定,更好地实现了多端口FMSS控制模式的平滑切换。

基于改进一阶LADRC光伏逆变器母线电压控制

两级式光伏逆变器的中间直流母线电压的稳定性是光伏逆变器良好的发电质量和长期运行的关键。光伏逆变器的发电功率易受到光照强度、温度等环境因素的影响,该功率波动会在直流母线电压上产生较大扰动。为了提升直流母线电压的抗扰性,改善逆变器的控制性能,提出了一种基于改进一阶线性自抗扰控制(LADRC)的光伏逆变器母线电压控制策略。采用改进一阶LADRC对逆变器双环控制中的电压外环控制器进行设计。在传统LADRC的线性扩张状态观测器的基础上,将状态变量表达式中系统控制量的分量去除,使得状态变量的观测误差方程中只含有与系统输入量相关的误差分量,减小了状态变量的观测误差。新增状态变量并引入前一控制周期的系统控制量,根据总和扰动表达式对总和扰动重新进行估计并补偿。在频域上对改进LADRC的控制性能进行分析,相较传统LADRC而言,改进LADRC的系统带宽增大,动态跟踪能力增强,在中低频段具有更小的扰动增益。仿真和试验表明改进LADRC具有更短的调节时间,系统动态性能具有较好的提升,直流母线电压的抗扰性增强。

Fractional Gradient Descent RBFNN for Active Fault-Tolerant Control of Plant Protection UAVs

With the increasing prevalence of high-order systems in engineering applications, these systems often exhibitsignificant disturbances and can be challenging to model accurately. As a result, the active disturbance rejectioncontroller (ADRC) has been widely applied in various fields. However, in controlling plant protection unmannedaerial vehicles (UAVs), which are typically large and subject to significant disturbances, load disturbances andthe possibility of multiple actuator faults during pesticide spraying pose significant challenges. To address theseissues, this paper proposes a novel fault-tolerant control method that combines a radial basis function neuralnetwork (RBFNN) with a second-order ADRC and leverages a fractional gradient descent (FGD) algorithm.We integrate the plant protection UAV model’s uncertain parameters, load disturbance parameters, and actuatorfault parameters and utilize the RBFNN for system parameter identification. The resulting ADRC exhibits loaddisturbance suppression and fault tolerance capabilities, and our proposed active fault-tolerant control law hasLyapunov stability implications. Experimental results obtained using a multi-rotor fault-tolerant test platformdemonstrate that the proposed method outperforms other control strategies regarding load disturbance suppressionand fault-tolerant performance.

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.

基于RBF-LADRC的虚拟同步发电机控制策略

随着大规模分布式发电技术的出现,为支持微电网的稳定运行,提出虚拟同步发电机(VSG)技术。由于VSG常用的电压电流双闭环控制存在动态响应时间久、抗扰动能力弱的缺点,考虑LADRC对扰动具有更优异的动态响应速度,该文提出一种用于VSG电压外环控制的线性自抗扰控制方案,并采用RBF对LADRC中的关键参数进行在线整定,以实现控制器的实时优化。在Matlab/Simulink平台下搭建仿真模型,并对所提出的改进策略与传统控制策略进行仿真对照,结果显示该策略可有效提高并网环境下虚拟同步发电机功率和频率稳定性。

基于LADRC和准PR的三相LCL型光伏并网逆变器谐波谐振抑制策略

针对三相LCL型光伏并网逆变器由自身高频段谐振尖峰引起的谐波谐振现象,设计一种基于三阶线性状态观测器的二阶线性自抗扰控制(LADRC)和准PR控制相结合的电流双闭环控制策略,较好地削弱了高频段的谐振尖峰,抑制了光伏系统的谐波谐振现象。通过设计李雅普诺夫函数证明了闭环系统最终会稳定收敛;利用仿真对不同工况下的控制策略深入对比分析,结果表明此双环控制策略具有优越的鲁棒性和实际应用价值。

基于改进ADRC的四旋翼姿态控制器设计

针对四旋翼无人机姿态自抗扰控制(ADRC)系统应对复杂干扰时,基于传统fal函数设计的扩张状态观测器(ESO)抗扰动能力不足、易产生抖振的问题,提出一种改进型ADRC并用于四旋翼姿态控制。基于正弦函数构建一种新型光滑非线性xfal函数以改进ESO,利用Lyapunov函数对改进ESO的稳定性进行证明。通过仿真平台,与其他ADRC进行比较。实验结果表明:改进型ADRC和标准ADRC相比,当四旋翼无人机不受干扰时,在其抖振区间内,俯仰角均方误差降低了约38.7%;当四旋翼无人机分别受到连续干扰、突发干扰、复杂干扰时,在各自计算区间内,俯仰角均方误差分别降低了约78.4%、80.2%、83.3%。因此,改进型ADRC在有效减小抖振的同时,还具备优良的抗干扰能力。

基于LADRC控制的永磁同步电机无位置传感器研究

在永磁同步电机(PMSM)控制系统中,传统PI控制器因结构简单、易于实现而得到广泛应用,但在系统快速性与超调之间存在矛盾。为了解决以上问题,提出一种以线性自抗扰控制(LADRC)为核心的PMSM无位置传感器控制方法。首先,针对线性扩张状态观测器(LESO)对系统扰动估计负担过大导致系统控制性能降低的问题,通过设计降阶观测器对系统的负载扰动进行观测,并将获取的扰动补偿到控制器以减少LESO对系统扰动的估计负担,提高LESO对扰动的估计精确度、增强系统控制性能;其次,为了实现无位置传感器控制,将电机方程中的反电动势纳入未知扰动并利用LESO对其进行估计;最后,从估计的反电动势中提取转速和转子位置信息。通过仿真和实验表明,采用LADRC所控制的PMSM系统具有更高控制精确度和更强的抗扰性能,而且利用LESO所估计的转速精确度高、鲁棒性强。

ADRC-GPC算法在旋转倒立摆系统中的应用

自抗扰广义预测控制(ADRC-GPC)是一种由广义预测控制技术和自抗扰控制技术有机结合的新型控制算法。该算法首先利用扩张状态观测器(ESO)估计出系统的总扰动;其次,引入虚拟控制量以抵消该总扰动作用,使原被控对象系统转化为积分器串联型系统;最后,利用GPC对新系统进行收敛控制。ADRC-GPC不仅可以有效避免传统GPC的在线计算量过大问题,还无须使用状态量的高阶信息,相比传统ADRC大大降低了调参难度。针对一级旋转倒立摆稳定控制问题中的强耦合、非线性等难点,设计了双通道ADRC-GPC融合控制器。仿真实验结果表明:ADRC-GPC控制器能够使一级旋转倒立摆系统达到控制目的,其对多变量非线性不稳定系统具有良好的控制性能。