Liu Ruijuan, Nie Zhuo-Yun, Shao Hui, Fang Huijuan, Luo Ji-Liang
School of Mathematics and Statistics, Xiamen University of Technology, Xiamen, China.
School of Information Science and Engineering, Huaqiao University, Xiamen 361021, China.
ISA Trans. 2023 Mar;134:497-510. doi: 10.1016/j.isatra.2022.08.017. Epub 2022 Aug 19.
Active disturbance rejection control (ADRC) for non-minimum phase (NMP) systems is a challenging problem due to the conflict between stability and feedback tuning. The key point on this issue is to avoid heavy feedback tuning for robustness enhancement. We perform plant reconstruction to obtain an explicit expression of internal disturbance, such that it can be reduced by cascade compensation. Then, a new ADRC scheme is developed based on plant reconstruction and the internal stability criterion for ADRC system is derived. The stability conditions provide guidelines on the design of the cascade compensator and disturbance observer. It also indicates that the cascade compensation contributes to the robust stability of NMP systems. Simulation results of two typical NMP systems are provided to show the efficacy of the proposed ADRC scheme. Physical realizability is also demonstrated through experiments on a motion NMP system.
对于非最小相位（NMP）系统，由于稳定性和反馈调节之间的冲突，有源干扰抑制控制（ADRC）是一个具有挑战性的问题。该问题的关键在于避免为增强鲁棒性而进行大量的反馈调节。我们进行对象重构以获得内部干扰的显式表达式，从而可以通过级联补偿来降低它。然后，基于对象重构开发了一种新的ADRC方案，并推导了ADRC系统的内部稳定性准则。稳定性条件为级联补偿器和干扰观测器的设计提供了指导。这也表明级联补偿有助于NMP系统的鲁棒稳定性。给出了两个典型NMP系统的仿真结果，以说明所提出的ADRC方案的有效性。还通过对一个运动NMP系统的实验证明了物理可实现性。
