高阶大惯性系统的线性自抗扰控制器设计  

Design of linear active disturbance rejection controller for high-order large inertia system

作　　者：王佑 吴振龙 薛亚丽[1,3] 李东海 李政[1,3] WANG You;WU Zhen-long;XUE Ya-li;LI Dong-hai;LI Zheng(State Key Laboratory of Power Systems,Tsinghua University,Beijing 100084,China;School of Electrical Engineering,Zhengzhou University,Zhengzhou 450001,China;Shanxi Research Institute for Clean Energy,Tsinghua University,Taiyuan 030032,China)

机构地区：[1]清华大学电力系统国家重点实验室,北京100084 [2]郑州大学电气工程学院,郑州450001 [3]清华大学山西清洁能源研究院,太原030032

出　　处：《控制与决策》2023年第4期999-1007,共9页Control and Decision

基　　金：国家自然科学基金项目(51876096);国家科技重大专项项目(2017-V-0005-0055)。

摘　　要：针对自抗扰控制器在热力系统高阶大惯性过程控制中效果不佳的问题,提出一种利用高阶系统模型信息进行补偿的自抗扰控制器设计方法.基于理论分析,给出各可调参数的物理意义及其定量化参数整定方法,并从观测误差、开环频率特性和参数稳定域等方面分析补偿自抗扰控制器能够提高控制效果的原因.仿真对比实验和鲁棒性检验结果表明,所提方法在设定值跟踪、抗扰能力和性能鲁棒性方面均优于PI/PID,同时能够显著改善低阶自抗扰控制器对高阶大惯性过程的控制效果,具有很好的工程推广潜力.Aiming at the problem of poor control effect of active disturbance rejection control(ADRC)for thermal system with high order and large inertia characteristics,a design method of ADRC based on high-order system model information compensation is proposed.Based on the theoretical analysis,the physical significance of each parameter and the quantitative parameter tuning method are given,and the reason why the proposed ADRC can improve the control effect compared with the standard ADRC controller is analyzed from the perspective of observation error,open-loop frequency characteristic and stable region.The result of the comparative simulation and robustness test show that the proposed method has better control effect than PI/PID in set point tracking,disturbance rejection ability and performance robustness,and it can also significantly improve the control effect of low-order ADRC on high-order large inertia process,which has good engineering promotion potential.

关 键 词：高阶系统 自抗扰控制 补偿结构 扩张状态观测器 观测误差 定量化参数整定 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]