奈奎斯特判据在时滞对象自抗扰控制中的应用  

Nyquist criterion used in active disturbance rejection control for time-delay plants

作　　者：金辉宇 倪刚 兰维瑶 李智斌 JIN Huiyu;NI Gang;LAN Weiyao;LI Zhibin(School of Aerospace Engineering,Xiamen University,Xiamen 361102,China;New H3C Technologies Co.,Ltd,Hangzhou 310051,China;College of Electrical Engineering and Automation,Shandong University of Science and Technology,Qingdao 266510,China)

机构地区：[1]厦门大学航空航天学院,福建厦门361102 [2]新华三技术有限公司,浙江杭州310051 [3]山东科技大学电气与自动化工程学院,山东青岛266510

出　　处：《厦门大学学报（自然科学版）》2022年第6期986-991,共6页Journal of Xiamen University：Natural Science

基　　金：国家自然科学基金(61733017);山东省引进顶尖人才“一事一议”专项经费。

摘　　要：奈奎斯特判据是研究控制系统稳定性的传统工具,但目前在教学中受重视不够.本文用奈奎斯特判据研究了一阶时滞对象线性自抗扰控制的稳定性,其中对象不稳定或临界稳定,同时采用降阶扩张状态观测器.先通过框图把问题简化为时滞对象反馈控制的标准形式,再分情况绘制奈奎斯特图,分析稳定性.得到了和近期结果一致的稳定性充要条件.表明奈奎斯特判据并未过时,仍可在控制理论的研究和教学中发挥重要作用.Nyquist criterion is a traditional approach to investigate the stability of control systems,but now it is not paid enough attention in education.In this paper,the stability of linear active disturbance rejection controls for first-order plus time-delay plants is studied with Nyquist criterion.The plants are either critically stable or unstable,while the extended-state observer is reduced order.The problem is simplified into the standard block diagram of feedback control for a time-delay plant,then the Nyquist diagram is drawn to analyze the stability respectively for the critically stable and unstable plants.Sufficient and necessary conditions of stability are obtained,and are found consistent with recent results.It shows that Nyquist criterion is not outdated and can continuously play an important role in current research and education of control theory.

关 键 词：奈奎斯特判据 时滞对象 自抗扰控制 框图 稳定性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]