Wang Shaohua, Gan He, Luo Ying, Wang Xiaohong, Gao Zhiqiang
School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Luoyu Road 1037, Wuhan, China.
School of Automation Science and Engineering, South China University of Technology, 381 Wushan Road, Guangzhou 510641, China.
ISA Trans. 2023 Nov;142:527-537. doi: 10.1016/j.isatra.2023.07.020. Epub 2023 Jul 20.
Increasing the observer bandwidth of the extended state observer (ESO) can significantly enhance the disturbance rejection performance of the active disturbance rejection control (ADRC). However, a large observer bandwidth can also amplify the noise and degrade the control quality. This study proposes a novel fractional-order ADRC (FOADRC) approach. A fractional-order model-aided extended state observer (FOMESO) is designed by leveraging available plant information. Under a given observer bandwidth, the disturbance estimation performance of FOMESO is improved, while noise sensitivity is not aggravated. Additionally, FOMESO transforms a typical second-order plant into a fractional-order double-integrator model, reducing the phase lag to below 180. Consequently, the derivative component, which is sensitive to noise, is unnecessary in the feedback controller. Simulation and comprehensive comparisons demonstrate that the proposed FOADRC scheme outperforms the traditional ADRC in tracking, noise sensitivity, disturbance rejection, and stability. Furthermore, the proposed FOADRC approach is robust to plant parameter variations. The proposed method is validated through experiments on a permanent magnet synchronous motor speed servo system, confirming its superiority and effectiveness.
增加扩张状态观测器（ESO）的观测带宽可以显著提高自抗扰控制（ADRC）的抗干扰性能。然而，较大的观测带宽也会放大噪声并降低控制质量。本研究提出了一种新颖的分数阶自抗扰控制（FOADRC）方法。通过利用可用的被控对象信息设计了分数阶模型辅助扩张状态观测器（FOMESO）。在给定的观测带宽下，FOMESO的干扰估计性能得到提高，同时噪声敏感性并未加剧。此外，FOMESO将典型的二阶被控对象转换为分数阶双积分器模型，将相角滞后降低到180度以下。因此，反馈控制器中对噪声敏感的微分分量不再必要。仿真和综合比较表明，所提出 的FOADRC方案在跟踪、噪声敏感性、抗干扰和稳定性方面优于传统的自抗扰控制。此外，所提出的FOADRC方法对被控对象参数变化具有鲁棒性。通过在永磁同步电机速度伺服系统上进行实验验证了所提方法，证实了其优越性和有效性。
