Nie Zhuo-Yun, Zhu Chao, Wang Qing-Guo, Gao Zhiqiang, Shao Hui, Luo Ji-Liang
School of Information Science and Engineering, Huaqiao University, Xiamen 361021, China.
Institute for Intelligent Systems, The University of Johannesburg, Johannesburg 2146, South Africa.
ISA Trans. 2020 Jun;101:281-294. doi: 10.1016/j.isatra.2020.01.022. Epub 2020 Jan 16.
In this paper, a new disturbance rejection proportional-integral-derivative (DR-PID) scheme is proposed for a class of minimum phase plants with low relative order. The essential active disturbance rejection (ADR) mechanism that is otherwise hidden in PID control structure has been illuminated and clarified in this paper for the first time.The proposed DR-PID scheme is derived on the basis of a modified disturbance observer to embed the active disturbance rejection mechanism seamlessly in the classical PID structure. Such a DR-PID scheme is implemented in a typical two-degree-of-freedom control structure that contains a standard PID controller and a pre-filter. The internal stability condition is established by investigating the closed-loop poles according to Rouche's theorem. The ensuing internal stability condition provides effective guidelines for DR-PID design that has infinite gain margin with minimum plant information. Five numerical comparisons are performed to illustrate the effectiveness of the new DR-PID scheme. The physical realizability of the proposed DR-PID scheme is also demonstrated by experiments on a magnetic levitation system.
本文针对一类低相对阶的最小相位植物提出了一种新的抗干扰比例-积分-微分（DR-PID）方案。本文首次阐明并澄清了原本隐藏在PID控制结构中的基本主动抗干扰（ADR）机制。所提出的DR-PID方案是基于改进的干扰观测器推导出来的，以便将主动抗干扰机制无缝地嵌入到经典PID结构中。这种DR-PID方案是在典型的二自由度控制结构中实现的，该结构包含一个标准PID控制器和一个预滤波器。根据儒歇定理研究闭环极点，建立了内部稳定性条件。由此产生的内部稳定性条件为具有无限增益裕度且所需植物信息最少的DR-PID设计提供了有效的指导方针。进行了五次数值比较以说明新DR-PID方案的有效性。通过磁悬浮系统实验也证明了所提出的DR-PID方案的物理可实现性。
