线性/非线性自抗扰切换控制方法研究

李杰; 齐晓慧; 夏元清; 高志强

doi:10.16383/j.aas.2016.c150338

线性/非线性自抗扰切换控制方法研究

doi: 10.16383/j.aas.2016.c150338

李杰^1,,
齐晓慧^1,,
夏元清^2, ,,
高志强^3,

1.
军械工程学院无人机工程系石家庄 050003 中国
2.
北京理工大学自动化学院北京 100081 中国
3.
克里夫兰州立大学电机与计算机工程系克里夫兰市 44115 美国

基金项目:

国家重点基础研究发展计划 (973计划) 2012CB720000

国家自然科学基金 61321002

国家自然科学基金 61225015

飞行器海上测量与控制联合实验室开放基金项目 FOM2015OF011

详细信息

作者简介:
李杰军械工程学院无人机工程系博士研究生.主要研究方向为自抗扰控制理论及应用.E-mail:lijienewlife1234@163.com

齐晓慧军械工程学院无人机工程系教授.主要研究方向为无人机飞行控制理论及应用.E-mail:qi-xh@163.com

高志强美国俄亥俄州克利夫兰州立大学电机与计算机工程系副教授.主要研究方向为工程控制论的根基与实践, 特别是自抗扰控制的理念、论证和工程化.E-mail:z.gao@ieee.org

通讯作者:
夏元清北京理工大学自动化学院教授.主要研究方向为网络化控制系统, 鲁棒控制, 信号处理, 自抗扰控制, 飞行器控制和空天地一体化协同控制.本文通信作者.E-mail:xia_yuanqing@bit.edu.cn

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出版历程
- 收稿日期: 2015-06-02
- 录用日期: 2015-10-09
- 刊出日期: 2016-02-20

On Linear/Nonlinear Active Disturbance Rejection Switching Control

LI Jie^1
,,
QI Xiao-Hui^1
,,
XIA Yuan-Qing^{2
, ,},
GAO Zhi-Qiang^3
,

1.
Department of Unmanned Aerial Vehicle Engineering, Ordnance Engineering College, Shijiazhuang 050003, China
2.
School of Automation, Beijing Institute of Technology, Beijing 100081, China
3.
Department of Electrical and Computer Engineering, Cleveland State University Cleveland 44115, USA

Funds:

Supported by National Basic Research Program of China (973 Program) 2012CB720000

National Natural Science Foundation of China 61321002

National Natural Science Foundation of China 61225015

the Open Funding Program of Joint Laboratory of Flight Vehicle Ocean-based Measurement and Control FOM2015OF011

More Information

Author Bio:
Ph. D. candidate in the Department of Unmanned Aerial Vehicle Engineering, Ordnance Engineering College. His research interest covers theory and application of active disturbance rejection control

Professor in the Department of Unmanned Aerial Vehicle Engineering, Ordnance Engineering College. Her research interest covers flight control theory and application for unmanned aerial vehicle

Associate professor at the Center for Advanced Control Technologies, Cleveland State University, USA. His research interest covers basic principles and the industry practice of engineering cybernetics, particularly its more recent development in active disturbance rejection control

Corresponding author: XIA Yuan-Qing Professor in the Department of Automatic Control, Beijing Institute of Technology. His research interest covers networked control systems, robust control and signal processing, active disturbance rejection control, flight control and cooperative control. Corresponding author of this paper

摘要

摘要: 非线性自抗扰控制 (Nonlinear active disturbance rejection control, NLADRC) 较线性自抗扰控制 (Linear active disturbance rejection control, LADRC) 具有跟踪精度高、抗干扰能力强等优点, 但在参数整定、稳定性分析以及控制性能分析等方面有一定的困难, 阻碍了非线性自抗扰控制在实际中的应用, 而线性自抗扰控制成为工程应用的首选.本文提出一种线性/非线性自抗扰控制切换控制方法, 该方法既综合了线性/非线性自抗扰控制的优点, 又解决了非线性自抗扰控制在参数整定、稳定性分析等方面的困难:首先, 分析线性/非线性自抗扰控制各自优缺点, 并给出了一种切换控制策略; 其次, 提出一种基于优化进行查表或利用拟合公式的参数整定方法; 再次, 提出基于劳斯判据和鲁棒波波夫判据的稳定性分析方法.通过仿真验证了该切换方法在跟踪精度、抗干扰能力等方面具有一定优势.该切换控制方法将有助于更好地发挥非线性机制在要求实现高精度、高抗扰能力场合的独特优势, 有望在工程实际中获得应用.
- 自抗扰控制 /
- 切换控制 /
- 参数整定 /
- 稳定性分析 /
- 性能分析
Abstract: Nonlinear active disturbance rejection control (NLADRC) is superior to linear active disturbance rejection control (LADRC) in tracking precision, anti-disturbance ability, and so on. However, there are difficulties in parameter tuning, stability analysis, performance analysis, etc, which inhibits its application. Therefore, LADRC is more popular in engineering applications. This paper presents a linear/nonlinear active disturbance rejection switching control method, which has both of the advantages of LADRC and NLADRC, and solves the problems of parameter tuning, stability analysis, etc. Firstly, the characteristics of LADRC and NLADRC are presented, and then a switching strategy is proposed. Secondly, a simple practical parameter tuning method is provided. Thirdly, the stability is analyzed through Routh criterion and Popov criterion. Simulations show that the switching control method is superior to both LADRC and NLADRC in tracking precision and anti-disturbance. The proposed method fully demonstrates the advantages of nonlinear functions in occasions when high tracking precision and strong anti-disturbance ability are needed, and is hopefully to be adopted in practical application.
- Active disturbance rejection control /
- switching control /
- parameter tuning /
- stability analysis /
- performance analysis

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图 1 $\mathop \lambda \nolimits_{0i}(e)$ 函数特性曲线

Fig. 1 Characteristic curve of the function $\mathop \lambda\nolimits_{0i} (e)$

下载: 全尺寸图片幻灯片

图 2 鲁里叶系统

Fig. 2 Lurie system

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图 3 基于鲁棒波波夫判据的稳定性分析

Fig. 3 Stability analysis based on robust Popov criterion

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图 4 小扰动 (M=20) 下跟踪误差

Fig. 4 Tracking error under M=20

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图 5 大扰动 (M'=200) 下跟踪误差

Fig. 5 Tracking error under M'=200

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图 6 跟踪精度分析

Fig. 6 Tracking precision

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图 7 控制量分析

Fig. 7 Control input

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表 1 参数优化表

Table 1 Parameter optimization

h	噪声	M	β₀₁	β₀₂	β₀₃
0.001	0.0075~0.015	30	60	240	980
0.001	0.0025~0.0075	60	90	550	3 320
0.001	0.001~0.0025	120	150	1 460	15 280
0.005	0.0075~0.015	10	45	130	418
0.005	0.0025~0.0075	30	90	540	3 350
0.005	0.001~0.0025	60	120	1 000	8 000
0.01	0.0075~0.015	5	30	60	125
0.01	0.0025~0.0075	10	45	140	410
0.01	0.001~0.0025	20	60	250	980

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