引用本文:李向阳,高志强,田森平,哀薇.高阶不确定系统的线性串级自抗扰控制[J].控制理论与应用,2023,40(5):856~864.[点击复制]
LI Xiangyang,GAO Zhiqiang,Senping Tian,AI Wei.Linear cascade disturbance rejection control for higher order system with uncertainties[J].Control Theory and Technology,2023,40(5):856~864.[点击复制]
高阶不确定系统的线性串级自抗扰控制
Linear cascade disturbance rejection control for higher order system with uncertainties
摘要点击 2444  全文点击 497  投稿时间：2021-12-01  修订日期：2022-04-09
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DOI编号  10.7641/CTA.2022.11180
  2023,40(5):856-864
中文关键词  自抗扰控制  串级控制  内模控制  低通滤波器  串级自抗扰控制
英文关键词  active disturbance rejection control  cascade control  internal model control  low-pass filter  cascade active disturbance rejection control
基金项目  国家自然科学基金项目(61773170, 62173151), 广东省自然科学基金项目(2023A1515010949, 2021A1515011850)
作者单位E-mail
李向阳 华南理工大学 xyangli@scut.edu.cn 
高志强 克里夫兰州立大学电气工程与计算机科学系 z.gao@ieee.org 
田森平 华南理工大学 ausptian@scut.edu.cn 
哀薇* 华南理工大学 aiwei@scut.edu.cn 
中文摘要
      自抗扰控制是我国著名学者韩京清原创的先进控制技术, 本文针对自抗扰控制(ADRC)在高阶系统应用中控制器设计和参数整定问题, 提出了串级自抗扰控制(CADRC). CADRC把高阶被控对象分解为含确定性部分和含总扰动的低阶部分的串联组合, 采用由内环和外环组成的串级控制系统来完成控制. 该CADRC方案的内环采用内模控制, 外环采用经典ADRC. 外环ADRC的被控对象是一个等效的低阶系统, 可以采用带宽法进行整定, 而内环的内模控制采用高阶低通滤波器进行回路成形设计和参数整定. 仿真研究表明, 所提出的方法是有效的, 具有良好的工程应用前景.
英文摘要
      Active disturbance rejection control(ADRC) is an advanced control technology, which is created by Chinese distinguished scholar, Jingqing Han. This paper presents a cascade ADRC (CADRC), one method aiming to simplify the parameter tuning when an ADRC is used in high-order controlled system. The CADRC divides the controlled system into two cascaded parts including a certain part and a low-order part with uncertainties. The certain part is in the inner loop of the cascade control system and the low-order part with uncertainties is in the outer loop. An internal model controller is used in the inner loop and the ADRC is used to control the outer loop with uncertainties. The controlled system in the outer loop by ADRC is an equivalent low-order system which can be tuned by the bandwidth method, and the internal model control (IMC) in the inner loop can be designed and tuned by the loop-shaping method. The simulation shows that the presented method is effective and has good engineering application prospect.