Liu Yifan, Liu Gang, Zheng Shiqiang, Li Haitao
School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, China; Beijing Engineering Research Center of High-Speed Magnetically Suspended Motor Technology and Application, Beihang University, Beijing 100191, China.
ISA Trans. 2022 Oct;129(Pt B):525-534. doi: 10.1016/j.isatra.2022.02.040. Epub 2022 Mar 2.
Active disturbance rejection control (ADRC) is considered to be a common control method in the presence of external disturbances and uncertainties. This work proposes a modified ADRC control strategy to further enhance robustness to uncertainties. First, the cascade structure of modified ADRC composed by two control loops is introduced. Two extended state observers that can be tuned independently are arranged in a cascade structure. The outer loop observer provides system state estimation to build the feedback controller, and the inner loop observer deals with the generalized disturbance. Then, the enhanced robustness is verified by the improved sensitivity in the intermediate frequency range. Finally, for the axial magnetic bearing system with unstable system dynamics, the variation trend in maximum sensitivity with different control parameters is explained in the simulation. The experiments are conducted under varying disturbances and parameter uncertainty to verify the enhanced control performance.
自抗扰控制（ADRC）被认为是一种在存在外部干扰和不确定性情况下的常用控制方法。这项工作提出了一种改进的ADRC控制策略，以进一步增强对不确定性的鲁棒性。首先，介绍了由两个控制回路组成的改进型ADRC的级联结构。两个可独立调谐的扩张状态观测器以级联结构排列。外环观测器提供系统状态估计以构建反馈控制器，内环观测器处理广义干扰。然后，通过在中频范围内提高灵敏度来验证增强的鲁棒性。最后，对于系统动力学不稳定的轴向磁轴承系统，在仿真中解释了不同控制参数下最大灵敏度的变化趋势。在变化的干扰和参数不确定性条件下进行实验，以验证增强的控制性能。
