Graphical design of linear active disturbance rejection controller for uncertain first-order-plus-dead-time plant

2011 ◽  
Author(s):  
Ruiguang Yang ◽  
Mingwei Sun ◽  
Zengqiang Chen
Keyword(s):  
Disturbance Rejection ◽  
Dead Time ◽  
First Order ◽  
Active Disturbance Rejection ◽  
Graphical Design

scholarly journals A Set of Active Disturbance Rejection Controllers Based on Integrator Plus Dead-Time Models

2021 ◽  
Vol 11 (4) ◽  
pp. 1671
Author(s):  
Mikulas Huba ◽  
Paulo Moura Oliveira ◽  
Pavol Bistak ◽  
Damir Vrancic ◽  
Katarina Žáková
Keyword(s):  
Disturbance Rejection ◽  
Dead Time ◽  
Point Of View ◽  
State Variables ◽  
Input Output ◽  
Distributed Parameters ◽  
Active Disturbance Rejection ◽  
State Observers ◽  
Disturbance Rejection Control ◽  
The One

The paper develops and investigates a novel set of constrained-output robust controllers with selectable response smoothing degree designed for an integrator-plus-dead-time (IPDT) plant model. The input-output response of the IPDT system is internally approximated by several time-delayed, possibly higher-order plant models of increasing complexity. Since they all contain a single integrator, the presented approach can be considered as a generalization of active disturbance rejection control (ADRC). Due to the input/output model used, the controller commissioning can be based on a simplified process modeling, similar to the one proposed by Ziegler and Nichols. This allows it to be compared with several alternative controllers commonly used in practice. Its main advantage is simplicity, since it uses only two identified process parameters, even when dealing with more complex systems with distributed parameters. The proposed set of controllers with increasing complexity includes the stabilizing proportional (P), proportional-derivative (PD), or proportional-derivative-acceleration (PDA) controllers. These controllers can be complemented by extended state observers (ESO) for the reconstruction of all required state variables and non-measurable input disturbances, which also cover imperfections of a simplified plant modeling. A holistic performance evaluation on a laboratory heat transfer plant shows interesting results from the point of view of the optimal least sensitive solution with smooth input and output.

scholarly journals A New PID Controller Design with Constraints on Relative Delay Margin for First-Order Plus Dead-Time Systems

Processes ◽  
2019 ◽  
Vol 7 (10) ◽  
pp. 713 ◽  
Author(s):  
Wu ◽  
Li ◽  
Xue
Keyword(s):  
Disturbance Rejection ◽  
Dead Time ◽  
Sensitivity Function ◽  
Proportional Integral Derivative ◽  
Proportional Integral Derivative Controller ◽  
Proportional Integral ◽  
First Order ◽  
Relative Delay ◽  
Time Systems ◽  
Delay Margin

The maximum sensitivity function as the conventional robustness index is often used to test the robustness and cannot be used to tune the controller parameters directly. To reduce analytical difficulties in dealing with the maximum sensitivity function and improve the control performance of the proportional-integral-derivative controller, the relative delay margin as a good alternative is proposed to offer a simple robust analysis for the proportional-integral-derivative controller and the first-order plus dead-time systems. The relationship between the parameters of the proportional-integral-derivative controller and the new pair, e.g., the phase margin and the corresponding gain crossover frequency, is derived. Based on this work, the stability regions of the proportional-integral-derivative controller parameters, the proportional gain and the integral gain with a given derivative gain, are obtained in a simple way. The tuning of the proportional-integral-derivative controller with constraints on the relative delay margin is simplified into an optimal disturbance rejection problem and the tuning procedure is summarized. For convenience, the recommended parameters are also offered. Simulation results demonstrate that the proposed methodology has better tracking and disturbance rejection performance than other comparative design methodologies of the proportional-integral/proportional-integral-derivative controller. For example, the integrated absolute errors of the proposed proportional-integral-derivative controller for the tracking performance and disturbance rejection performance are less than 91.3% and 91.7% of the integrated absolute errors of other comparative controllers in Example 3, respectively. The proposed methodology shows great potential in industrial applications. Besides, the proposed method can be applied to the design of the proportional-integral-derivative controller with filtered derivative which is recommended for practical applications to weaken the adverse influence of the high-frequency measurement noise.

Research on Digital Control of Tension Servo System Based on PLC

2012 ◽  
Vol 614-615 ◽  
pp. 1445-1448
Author(s):  
Chong Chen ◽  
Guo Wen Hu
Keyword(s):  
Control System ◽  
Digital Control ◽  
Disturbance Rejection ◽  
Servo System ◽  
Tension Control ◽  
First Order ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Tension Control System ◽  
Upper Computer

Mathematical model of tension servo system drived by two induction motor is analyzed in this paper. Then, structure optimized of first-order active disturbance rejection control (ADRC) of tension servo system is designed. Double channels compensation of extended state observer is used to estimate and compensate the total disturbance of system, and approximate linear and determined treatment is done to the tension control system. S7-300 PLC is used as lower computer controller, while WinCC is used as upper computer monitor software, realizing all-digital control of the system. The experiments is carried on based on S7-300 PLC experimental platform and the results prove that the decoupling control of speed and tension is realized, and the control system has higher dynamic, static status and robustness performances.

scholarly journals The decoupled vector-control of PMSM based on nonlinear multi-input multi-output decoupling ADRC

2020 ◽  
Vol 12 (12) ◽  
pp. 168781402098425
Author(s):  
Yihua Liu ◽  
Jiayi Wen ◽  
Dacheng Xu ◽  
Zhijian Huang ◽  
Hong Zhou
Keyword(s):  
Vector Control ◽  
Disturbance Rejection ◽  
Pid Controller ◽  
Dynamic Performance ◽  
Permanent Magnet Synchronous Motor ◽  
Factorization Approach ◽  
First Order ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Measured Time

The Permanent Magnet Synchronous Motor (PMSM) is widely used in many fields. Aiming at nonlinearity, strong coupling and uncertainty of the PMSM, this paper proposes a nonlinear multi-input multi-output (MIMO) decoupling PMSM algorithm based on Active Disturbance Rejection Control (ADRC). A Lower-Upper matrix factorization approach is introduced to solve a general inverse of the measured time-varying matrix in real-time decoupling ADRC. This PMSM is based on the vector control. First, the PMSM model and vector control are simulated. Then, a first-order ADRC is introduced and used to replace the PID controller in the d and q axis of PMSM respectively. The simulation shows that the replaced system has a smaller fluctuation, faster response and better stability. Finally, the nonlinear MIMO decoupling ADRC and its inverse matrix method are deduced. Then, the decoupling PMSM control based on ADRC is verified. The simulation shows that this system has a better static and dynamic performance, and it conforms to the PMSM characteristics better. All this shows that the nonlinear MIMO decoupling ADRC is a better strategy for the PMSM. The presented algorithm also has advantage in method compared with some recent results of decoupling PMSM control.

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