大时滞不确定系统的滞后时间削弱与自抗扰控制  

Time-delay influence reducing and active disturbance rejection control of uncertain systems with large time-delay

作　　者：李向阳[1] 高志强 田森平[1] 哀薇[1] LI Xiang-yang;GAO Zhi-qiang;TIAN Sen-ping;AI Wei(Key Laboratory of Autonomous Systems and Network Control,Ministry of Education,School of Automation Science and Engineering,South China University of Technology,Guangzhou Guangdong 510640,China;Center for Advanced Control Technologies,Department of Electrical Engineering and Computer Science,Cleveland State University,Cleveland,OH 44115,USA)

机构地区：[1]自主系统与网络控制教育部重点实验室,华南理工大学自动化科学与工程学院,广东广州510640 [2]克里夫兰州立大学电气工程与计算机科学系,美国俄亥俄克里夫兰44115

出　　处：《控制理论与应用》2024年第2期249-260,共12页Control Theory & Applications

基　　金：国家自然科学基金项目(61773170,62173151);广东省自然科学基金项目(2021A1515011850)资助.

摘　　要：针对具有变时滞、变参数和扰动的大时滞不确定系统的控制问题,本文提出了滞后时间削弱与自抗扰控制方法,综合应用了前馈控制、反馈控制和自抗扰补偿控制.为了提高系统的稳定性,在前馈控制器的设计中采用了系统的边界模型确定控制器参数取值范围;采用系统边界模型输出与系统实际输出的动态加权和作为反馈控制器的输入.为了提高系统控制的性能,自抗扰补偿控制回路的设计基于标称模型的补偿控制器.理论证明和仿真结果表明,所提出的方法是有效的,其在具有模型参数变化、滞后时间变化和外部扰动情况下,能保证系统的稳定性和良好的控制性能.For the control problem of uncertain systems with variant large time-delay,variant parameters and disturbance,a time-delay influence reducing(TDIR)and active disturbance rejection control method(ADRC)is presented.The proposed TDIR-ADRC method integrates feedforward control,feedback control and active disturbance rejection compensating control.In order to enhance the system’s stability,the system’s border model is used in the design of feedforward control and the input of feedback controller is the dynamic weighted sum of the outputs of the system’s border model and the real system.In order to enhance the system’s control performance,the active disturbance rejection compensating control loop is based on the nominal model,a special compensating controller is designed.The theoretical analysis and simulation research results verify the effectiveness of the proposed TDIR-ADRC methods,the TDIR-ADRC shows nice performance of system output tracking reference input when there exist model parameter and time-delay variation and disturbance.

关 键 词：大时滞系统 不确定系统 自抗扰控制 滞后时间削弱 补偿控制器 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]