基于修正不确定性和干扰估计器的控制的鲁棒性、性能分析和实际改进

IF 5.4 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
Zhuo Chen , Yong-Sheng Hao , Li Sun
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引用次数: 0

摘要

基于修正的不确定性和扰动估计器(MUDE)的控制在存在时间延迟的情况下显示出了良好的控制性能和对意外动态的鲁棒性。然而,仍有一些问题尚未得到理论分析,但实际上阻碍了其进一步应用,如噪声放大和延迟不匹配下的控制信号波动。另一方面,在基于 MUDE 的控制器设计中,鲁棒性和控制性能之间的权衡仍然是一个关键问题。然而,在将单回路灵敏度函数分析方法扩展到 MUDE(多回路)控制系统时,会出现一些疑问。为此,本文全面分析了 MUDE 的性能,包括控制性能和鲁棒性,并针对其问题提出了一些切实可行的改进方案(简称为 IUDE)。首先澄清了多回路控制系统灵敏度函数分析中的模糊之处。然后,基于二自由度等效控制结构和灵敏度函数,详细分析了基于 MUDE 的控制系统的控制性能和鲁棒性,包括噪声灵敏度和控制信号响应。最后,提出了一些切实可行的改进措施,并推导出定量调节规则,以方便其应用。仿真结果表明,所提出的控制方法有效地缓解了噪声放大和控制信号波动的问题,同时几乎没有降低控制性能。水箱控制实验也验证了所提方法的有效性,为控制实践描绘了美好前景。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Robustness, performance analysis and practical improvements of modified uncertainty and disturbance estimator based control

Modified uncertainty and disturbance estimator (MUDE) based control shows great control performance and robustness against unexpected dynamics in the presence of time delay. However, there are still some problems that have not been analyzed theoretically but actually hinder its further applications, such as noise amplification and control signal fluctuations under delay mismatch. On the other hand, the trade-off between robustness and control performance is still a critical issue in MUDE based controller design. However, some doubts arise when extending the single-loop sensitivity function analysis method to MUDE (multi-loop) control systems. To this end, this paper comprehensively analyzes the performance of MUDE, including control performance and robustness, and proposes some practical improvements to address its issues (denoted as IUDE). An ambiguity in analysis of sensitivity functions for multi-loop control systems is first clarified. Then, based on the two-degree-of-freedom equivalent control structure and sensitivity functions, the control performance and robustness of the MUDE based control system are analyzed in detail, including noise sensitivity and control signal response. Finally, some practical improvements are proposed and a quantitative tuning rule is also derived to facilitate its application. Simulation results show that the proposed control method effectively mitigates the problems of noise amplification and control signal fluctuation while almost not degrading the control performance. Water-tank control experiments have also been performed to validate the efficacy of the proposed method, which depicts a promising prospect in control practice.

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来源期刊
Control Engineering Practice
Control Engineering Practice 工程技术-工程:电子与电气
CiteScore
9.20
自引率
12.20%
发文量
183
审稿时长
44 days
期刊介绍: Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.
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