A novel control scheme of active disturbance rejection internal model control(ADRIMC) is proposed to improve the anti-interference ability and robustness for the dead-time process. The active anti-interference concept...A novel control scheme of active disturbance rejection internal model control(ADRIMC) is proposed to improve the anti-interference ability and robustness for the dead-time process. The active anti-interference concept is introduced into the internal model control(IMC) by analyzing the relationship between IMC and disturbance observer control(DOB). Further, a design process of disturbance filter is presented to realize the active anti-interference ability for ADRIMC scheme. The disturbance filter is used to estimate an equivalent disturbance consisting of both external disturbances and internal disturbances caused by model mismatches.Simulation results demonstrate that the proposed method possesses a good disturbance rejection performance, though losing some partial dynamic performance. In other words, the proposed method shows a tradeoff between the dynamic performance and the system robust.展开更多
Because of vehicle's external disturbances and model uncertainties,robust control algorithms have obtained popularity in vehicle stability control.The robust control usually gives up performance in order to guarantee...Because of vehicle's external disturbances and model uncertainties,robust control algorithms have obtained popularity in vehicle stability control.The robust control usually gives up performance in order to guarantee the robustness of the control algorithm,therefore an improved robust internal model control(IMC) algorithm blending model tracking and internal model control is put forward for active steering system in order to reach high performance of yaw rate tracking with certain robustness.The proposed algorithm inherits the good model tracking ability of the IMC control and guarantees robustness to model uncertainties.In order to separate the design process of model tracking from the robustness design process,the improved 2 degree of freedom(DOF) robust internal model controller structure is given from the standard Youla parameterization.Simulations of double lane change maneuver and those of crosswind disturbances are conducted for evaluating the robust control algorithm,on the basis of a nonlinear vehicle simulation model with a magic tyre model.Results show that the established 2-DOF robust IMC method has better model tracking ability and a guaranteed level of robustness and robust performance,which can enhance the vehicle stability and handling,regardless of variations of the vehicle model parameters and the external crosswind interferences.Contradiction between performance and robustness of active steering control algorithm is solved and higher control performance with certain robustness to model uncertainties is obtained.展开更多
基金Project(61273132)supported by the National Natural Foundation of ChinaProject(20110010010)supported by Higher School Specialized Research Fund for the Doctoral Program,China
文摘A novel control scheme of active disturbance rejection internal model control(ADRIMC) is proposed to improve the anti-interference ability and robustness for the dead-time process. The active anti-interference concept is introduced into the internal model control(IMC) by analyzing the relationship between IMC and disturbance observer control(DOB). Further, a design process of disturbance filter is presented to realize the active anti-interference ability for ADRIMC scheme. The disturbance filter is used to estimate an equivalent disturbance consisting of both external disturbances and internal disturbances caused by model mismatches.Simulation results demonstrate that the proposed method possesses a good disturbance rejection performance, though losing some partial dynamic performance. In other words, the proposed method shows a tradeoff between the dynamic performance and the system robust.
基金Supported by National Natural Science Foundation of China(Grant No.51375009)PhD Research Foundation of Liaocheng University,China(Grant No.318051523)Tsinghua University Initiative Scientific Research Program,China
文摘Because of vehicle's external disturbances and model uncertainties,robust control algorithms have obtained popularity in vehicle stability control.The robust control usually gives up performance in order to guarantee the robustness of the control algorithm,therefore an improved robust internal model control(IMC) algorithm blending model tracking and internal model control is put forward for active steering system in order to reach high performance of yaw rate tracking with certain robustness.The proposed algorithm inherits the good model tracking ability of the IMC control and guarantees robustness to model uncertainties.In order to separate the design process of model tracking from the robustness design process,the improved 2 degree of freedom(DOF) robust internal model controller structure is given from the standard Youla parameterization.Simulations of double lane change maneuver and those of crosswind disturbances are conducted for evaluating the robust control algorithm,on the basis of a nonlinear vehicle simulation model with a magic tyre model.Results show that the established 2-DOF robust IMC method has better model tracking ability and a guaranteed level of robustness and robust performance,which can enhance the vehicle stability and handling,regardless of variations of the vehicle model parameters and the external crosswind interferences.Contradiction between performance and robustness of active steering control algorithm is solved and higher control performance with certain robustness to model uncertainties is obtained.