Chen Zhuo, Hao Yong-Sheng, Su Zhi-Gang, Sun Li
The Key Lab of Energy Thermal Conversion and Control of Ministry of Education, School of Energy and Environment, Southeast University, Nanjing, 210096, China.
ISA Trans. 2022 Sep;128(Pt A):593-605. doi: 10.1016/j.isatra.2021.09.013. Epub 2021 Sep 22.
Active Disturbance Rejection Control (ADRC) emerges as a promising control method that can effectively handle uncertainties and disturbances. However, many model-based ADRC tuning methods turn laborious to achieve satisfactory control performance, when the critical process parameters are difficult to accurately obtain, especially the time delay information. To this end, this paper aims to propose a data-driven iterative tuning method for time-delayed ADRC (TD-ADRC). Based on parameter scaling technique, the quantitative correlation among control performance, robustness and normalized controller parameters are investigated. It is then used to design robust nominal controller. Then, based on the TD-ADRC inner-loop equivalent structure, an iterative feedback tuning (IFT) method is proposed to optimally obtain the nominal first order plus time delay (FOPTD) process model. Its unbiasedness and convergence are also described. With the empirical relations and the IFT stochastic approximation algorithm, a data-driven iterative tuning method for TA-ADRC is proposed, which allows a reasonable trade-off between system performance and robustness. Simulation results validate the efficacy of the proposed method, and a water-tank control experiment depicts a promising prospect in control practice.
自抗扰控制（ADRC）作为一种能够有效应对不确定性和干扰的有前途的控制方法而出现。然而，当关键过程参数难以准确获取，尤其是时延信息时，许多基于模型的ADRC整定方法要实现令人满意的控制性能变得很费力。为此，本文旨在提出一种用于时滞自抗扰控制（TD-ADRC）的数据驱动迭代整定方法。基于参数缩放技术，研究了控制性能、鲁棒性和归一化控制器参数之间的定量相关性。然后用其设计鲁棒标称控制器。接着，基于TD-ADRC内环等效结构，提出一种迭代反馈整定（IFT）方法以最优地获得标称一阶加时滞（FOPTD）过程模型，并描述了其无偏性和收敛性。利用经验关系和IFT随机逼近算法，提出了一种用于TA-ADRC的数据驱动迭代整定方法，该方法能在系统性能和鲁棒性之间进行合理权衡。仿真结果验证了所提方法的有效性，水箱控制实验表明其在控制实践中有良好前景。
