Chen Pengchong, Luo Ying, Zheng WeiJia, Gao Zhiqiang, Chen YangQuan
Department of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei 430070, China.
Department of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei 430070, China.
ISA Trans. 2021 Aug;114:359-369. doi: 10.1016/j.isatra.2020.12.030. Epub 2020 Dec 23.
This paper presents a fractional order (FO)-active disturbance rejection control (ADRC) with a FO extended state observer (FOESO) design. Applying this FOESO, a typical second order motion plant can be converted into a cascadedfractionalorderintegrator(1∕s;0<r<1) with considering all other dynamics and internal/external disturbances as totaldisturbances. Therefore, a single proportional controller which is not sensitive to system noise can realize a stable control system. According to the frequency characteristics of equivalent FO system model, the FO-ADRC control system is robust to systematic uncertain dynamics and disturbances. Furthermore, without differential action which is needed for the typical double integrator plant control, the proposed control system achieves good robustness to high-frequency noise. Simulation and experiments on PMSM speed servo system are performed, showing that the proposed FO-ADRC behaves better than integer order ADRC (IO-ADRC) and FOPI controller. This FO-ADRC methodology can be simply extended to general control plants.
本文提出了一种带有分数阶扩展状态观测器（FOESO）设计的分数阶（FO）-自抗扰控制（ADRC）。应用该FOESO，在将所有其他动态特性以及内部/外部干扰视为总干扰的情况下，一个典型的二阶运动对象可被转换为一个级联分数阶积分器（1∕s；0 < r < 1）。因此，一个对系统噪声不敏感的单一比例控制器就能实现一个稳定的控制系统。根据等效分数阶系统模型的频率特性，分数阶-自抗扰控制（FO-ADRC）系统对系统不确定动态特性和干扰具有鲁棒性。此外，所提出的控制系统无需典型双积分对象控制所需的微分作用，对高频噪声具有良好的鲁棒性。在永磁同步电机（PMSM）速度伺服系统上进行了仿真和实验，结果表明所提出的分数阶-自抗扰控制（FO-ADRC）比整数阶自抗扰控制（IO-ADRC）和分数阶比例积分（FOPI）控制器表现更好。这种分数阶-自抗扰控制（FO-ADRC）方法可简单扩展到一般控制对象。
