一类分布参数系统的自抗扰控制

发布时间：2018-04-19 07:01

本文选题：分布参数系统 + 自抗扰控制　；参考：《北京化工大学》2016年硕士论文

【摘要】：自抗扰控制是近年来发展起来的新型控制算法,它能将系统中的不确定性和扰动视作整体干扰进行估计。整体干扰即“总扰动”,是自抗扰控制思想的核心,最早是由韩京清教授提出,这样设计的目的是通过把系统内部和外部所有的不确定性和扰动综合考虑并整体观测和补偿,以解决系统的抗扰问题。自抗扰控制算法不依赖于对象模型的参数和模型形式,是一种可适用于严酷环境和复杂对象的控制算法。随着后来高志强提出的“带宽”的思想,参数较多的经典自抗扰控制器被简单线性化,改进的线性自抗扰控制器的算法在众多领域显得简单实用,得到了很多学者的充分研究和运用。分布参数系统是一类在自然界中的广泛存在的系统,它几乎随处可见,因此针对分布参数系统进行控制器设计是一个很有现实意义的课题。可是分布参数系统比集中参数系统更复杂,存在各种不确定的因素,例如不确定的干扰、参数摄动等。所有的这些不可预见并消除的干扰都有可能对系统的整体性能造成很大的影响,而传统的控制算法往往不能满足较高的控制需求或者实现较好的控制效果。本文尝试将分布参数系统的控制问题转换为抗扰问题进行解决。论文主要研究内容如下：1.本文针对一类线性的分布参数系统进行研究,这类分布参数系统均可以通过一阶偏微分方程组的通式进行描述。本文针对这类系统所包含的模型复杂性和输入输出中伴随的不确定性以及不可测量的扰动等问题,主要研究这类分布参数系统的动态控制问题。为克服各种干扰对系统的动态影响考虑将分布参数系统的边界控制问题简化为抗扰问题,进而设计自抗扰控制器。2.本文扩充了状态观测器的阶数来进一步估计总扰动,并基于此构造高阶扩张状态观测器。这样设计的目的是为了实现对“总扰动”的更加精确的估计并实现更好的补偿消除,尽可能的克服“总扰动”对系统性能的影响。这样设计的观测器跟踪精度高,状态估计更准确,且保留了控制器结构简单的优点。仿真实验涉及两个分布参数系统,实验中将改良后的自抗扰控制器与相关文献中设计的PI控制器的进行控制性能比较,改进的自抗扰控制器表现出很好的控制效果。3.本文基于前人的工作,从免疫PID可以增强PID的控制效果得到启发。将免疫控制可以实现参数自整定思想应用于自抗扰的主控制器,具体来讲是在自抗扰控制器中的NLSEF部分加入免疫因子,通过生物免疫的机理实现自抗扰主控制器中的控制参数的自整定。这样设计的免疫自抗扰控制器,可以利用免疫的自适应更好的辅助自抗扰控制器,使其发挥更好的控制及观测效果。仿真实验说明了免疫自抗扰控制器对于扰动的抗扰性和自适应性。
[Abstract]:Active disturbance rejection control (ADRC) is a new control algorithm developed in recent years. It can estimate the uncertainties and disturbances of the system as a whole.The whole disturbance, that is, "total disturbance", is the core of the idea of ADRC. It was first put forward by Professor Han Jingqing. The purpose of this design is to take into account all the uncertainties and disturbances both inside and outside the system, and to observe and compensate for them as a whole.To solve the problem of system immunity.The ADRC algorithm is not dependent on the parameters and model form of the object model. It is a control algorithm suitable for harsh environments and complex objects.With the idea of "bandwidth" put forward by Gao Zhiqiang later, the classical ADRC with more parameters is simply linearized, and the improved algorithm of linear ADRC is simple and practical in many fields.It has been fully studied and applied by many scholars.Distributed parameter system is a kind of widely existing system in nature, it is almost everywhere, so the controller design for distributed parameter system is of great practical significance.But the distributed parameter system is more complex than the centralized parameter system, and there are various uncertain factors, such as uncertain disturbance, parameter perturbation and so on.All these unpredictable and eliminated disturbances may have a great impact on the overall performance of the system, but the traditional control algorithms often can not meet the higher control requirements or achieve better control effect.This paper attempts to transform the control problem of distributed parameter system into a disturbance rejection problem.The main contents of this paper are as follows: 1: 1.In this paper, we study a class of linear distributed parameter systems, which can be described by the general expressions of the first order partial differential equations.In this paper, the dynamic control problem of the distributed parameter system is studied, which includes the complexity of the model, the uncertainty associated with the input and output, and the unmeasurable disturbance.In order to overcome the dynamic effects of various disturbances on the system, the boundary control problem of distributed parameter systems is simplified as a disturbance rejection problem, and an active disturbance rejection controller .2is designed.In this paper, the order of the state observer is extended to further estimate the total disturbance, and based on this, the higher order extended state observer is constructed.The purpose of this design is to achieve more accurate estimation of "total disturbance" and to achieve better compensation and elimination, and to overcome the influence of "total disturbance" on system performance as much as possible.The designed observer has high tracking accuracy, more accurate state estimation, and retains the advantages of simple controller structure.The simulation experiment involves two distributed parameter systems. In the experiment, the improved ADRC is compared with the Pi controller designed in related literature. The improved ADRC has a good control effect.In this paper, based on the previous work, the immune PID can enhance the control effect of PID.The idea of parameter self-tuning can be applied to the main controller of ADRC, specifically, the immune factor is added to the NLSEF part of the ADRC.The self-tuning of the control parameters in the active disturbance rejection controller is realized by the mechanism of biological immunity.The immune ADRC designed in this paper can make use of the immune adaptive and better auxiliary ADRC to make it play a better control and observation effect.The simulation results show that the immune ADRC is robust and adaptive to disturbances.
【学位授予单位】：北京化工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP273

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