基于不確定性補(bǔ)償?shù)幕痣姍C(jī)組二自由度控制

目錄




第1章引言

1.1研究背景和意義

1.2研究進(jìn)展和現(xiàn)狀

1.2.1熱工過程控制研究現(xiàn)狀

1.2.2不確定性： 自動控制的核心問題

1.2.3傳統(tǒng)二自由度控制結(jié)構(gòu)

1.2.4基于擾動觀測器的二自由度控制

1.2.5基于擴(kuò)張狀態(tài)觀測器的二自由度控制：
自抗擾控制

1.2.6基于干擾與不確定性估計(jì)器的二自由度控制

1.3現(xiàn)代二自由度控制方法的特點(diǎn)

1.4研究內(nèi)容和技術(shù)路線


第2章單變量二自由度控制理論基礎(chǔ)研究

2.1時(shí)滯過程二自由度PI的最優(yōu)抗擾整定

2.1.1研究背景

2.1.2問題描述

2.1.3一個(gè)新的魯棒性指標(biāo)——相對時(shí)滯裕度

2.1.4PI控制器參數(shù)變換和穩(wěn)定域計(jì)算

2.1.5PI控制器參數(shù)穩(wěn)定域求解

2.1.6基于時(shí)滯魯棒性約束的優(yōu)化問題

2.1.7仿真例子

2.2時(shí)滯過程的改進(jìn)一階ADRC控制及定量整定

2.2.1時(shí)滯ADRC結(jié)構(gòu)

2.2.2補(bǔ)償對象回路近似分析與ωo整定

2.2.3基于預(yù)期動態(tài)的kp參數(shù)整定

2.2.4仿真例子

2.3時(shí)滯過程二自由度UDE控制和定量整定

2.3.1時(shí)滯過程的改進(jìn)UDE控制

2.3.2基于FOPDT過程的穩(wěn)定性分析

2.3.3基于FOPDT過程的性能分析和參數(shù)整定

2.3.4仿真例子

2.4基于改進(jìn)ESO的非最小相位系統(tǒng)二自由度控制策略

2.4.1基于模型信息的改進(jìn)ESO設(shè)計(jì)

2.4.2反調(diào)量受限的最優(yōu)前饋設(shè)計(jì)

2.4.3收斂性和參數(shù)整定

2.4.4仿真例子

2.5本章小結(jié)


第3章自抗擾控制的應(yīng)用基礎(chǔ)研究

3.1一階ADRC的數(shù)學(xué)描述

3.2一階ADRC的工程實(shí)現(xiàn)

3.3參數(shù)自整定工具和重調(diào)策略

3.4ESO的離散化及其穩(wěn)定性

3.5水箱測試試驗(yàn)

3.5.1試驗(yàn)平臺介紹

3.5.2一階ADRC控制邏輯的基礎(chǔ)測試

3.5.3一階ADRC參數(shù)自整定工具與重調(diào)策略的驗(yàn)證

3.5.4時(shí)滯對象TDADRC參數(shù)整定方法的試驗(yàn)研究

3.6本章小結(jié)


第4章自抗擾控制在單變量熱工過程中的試驗(yàn)研究

4.1某超超臨界機(jī)組的低壓加熱器凝結(jié)水位控制

4.1.1過程描述

4.1.2過程辨識和控制仿真

4.1.3現(xiàn)場應(yīng)用

4.2某亞臨界機(jī)組的磨煤機(jī)出口風(fēng)溫控制系統(tǒng)

4.2.1過程描述

4.2.2過程辨識和TDADRC控制仿真

4.2.3現(xiàn)場應(yīng)用

4.3本章小結(jié)


第5章二自由度控制在多變量熱工過程中的仿真研究

5.1流化床鍋爐燃燒系統(tǒng)的DOB控制方法

5.1.1過程介紹

5.1.2DOB解耦能力分析

5.1.3仿真結(jié)果

5.2基于直接能量平衡的亞臨界火電機(jī)組ADRC協(xié)調(diào)
控制方法

5.2.1過程介紹

5.2.2面向直接能量平衡(DEB)控制的非線性建模

5.2.3模型簡化

5.2.4參數(shù)辨識和校驗(yàn)

5.2.5DEB控制結(jié)構(gòu)的解耦性分析

5.2.6基于多目標(biāo)優(yōu)化的DEBADRC協(xié)調(diào)控制方法

5.3本章小結(jié)


第6章總結(jié)與展望

6.1研究總結(jié)

6.2進(jìn)一步工作的建議與展望


附錄： 幾個(gè)定理的證明


參考文獻(xiàn)


在學(xué)期間發(fā)表的學(xué)術(shù)論文


致謝




Contents


Contents

Chapter 1Introduction1

1.1Background and Significance1

1.2StateoftheArt3

1.2.1Progress of Thermal Process Control3

1.2.2Uncertainty： Core of Automatic Control4

1.2.3Classical 2DOF Control Structure6

1.2.4Disturbance Observer Based Control7

1.2.5ESO Based 2DOF Control Structure： Active

Disturbance Rejection Control9

1.2.6Uncertainty and Disturbance Estimator Based

2DOF Control11

1.3Characteristics of Modern 2DOF Control12

1.4Research Content and Technical Route13


Chapter 2Theoretical Research of SingleLoop 2DOF Control16

2.1Optimal Disturbance Rejection Based PI Tuning of

TimeDelay Process16

2.1.1Background16

2.1.2Problem Formulation17

2.1.3A New Robustness Metric： Relative
Delay Margin19

2.1.4Parameter Transformation and Stable Region
of PI Controller19

2.1.5Solution of the Stable Region of PI Controller21

2.1.6TimeDelay Robustness Constrained
Optimization24

2.1.7Simulation Examples27

2.2Improved FirstOrder ADRC Design and Quantitative

Tuning for TimeDelay Process28

2.2.1TimeDelay ADRC Structure28

2.2.2Analysis and Tuning of Compensated Plant29

2.2.3Desired Dynamics Based Tuning31

2.2.4Simulation Examples32

2.3UDE Based Control and Quantitative Tuning of

TimeDelay Process35

2.3.1Improved UDE Based Control for TimeDelay

Process35

2.3.2Stability Analysis Based on FOPDT Process37


2.3.3Characteristics Analysis and Parameter Tuning

Based on FOPDT39

2.3.4Simulation Examples40

2.4Improved ESO Based 2DOF Control for NonMinimum

Phase System44

2.4.1Model Information Based Design of Improved
ESO45

2.4.2Undershoot Constrained Optimal Feedforward
Design46

2.4.3Convergence and Parameter Tuning47

2.4.4Simulation Examples48

2.5Chapter Summary50


Chapter 3Basic Research for Application of Active Disturbance

Rejection Control52

3.1Mathematical Description of FirstOrder ADRC53

3.2Engineering Realization of FirstOrder ADRC54

3.3AutoTuning and Retuning of Parameters56

3.4Discretization and Stability of ESO58

3.5Water Tank Test59

3.5.1Experimental Setup59

3.5.2Preliminary Test of FirstOrder ADRC

Control Logics59

3.5.3Verification of AutoTuning and Retuning of

FirstOrder ADRC61

3.5.4Experimental Research of Parameter Tuning

of TimeDelay ADRC63

3.6Chapter Summary66


Chapter 4Field Test Research of ADRC in SingleLoop

Thermal Process67

4.1Condensed WaterLevel Control of An UltraSupercritical

Power Plant67

4.1.1Process Description67

4.1.2Process Identification and Control Simulation68

4.1.3Field Test71

4.2The Air Temperature Control System of Coal Mill

Outlet of A Subcritical Unit73

4.2.1Process Description73

4.2.2Process Identification and Control Simulation

of TDADRC74

4.2.3Field Test76

4.3Chapter Summary79


Chapter 5Simulation of 2DOF Control in Multivariable

Thermal Process80

5.1DOB Based Control for Fluidized Bed Combustor80

5.1.1Process Description80

5.1.2Decoupling Analysis of DOB82

5.1.3Simulation Examples86

5.2Direct Energy Balance Based ADRC Coordinated

Control for Power Plant87

5.2.1Process Description87

5.2.2DEB Oriented Nonlinear Modelling90

5.2.3Model Simplification92

5.2.4Parameter Identification and Verification94

5.2.5Decoupling Analysis of DEB Control Structure98

5.2.6MultiObjective Optimization of DEBADRC

Coordinated Control103

5.3Chapter Summary108


Chapter 6Conclusion and Outlook109

6.1Book Summary109

6.2Further Work110


Appendix： Proof of Theorems112


References120


Publications130


Acknowledgements132