Parameter Tuning And Application Of Integral Linear Active Disturbance Rejection Controller

Active Disturbance Rejection Control gradually become a research hotspot of modern advanced control methods due to its simple algorithm,easy realization,good robustness and strong anti-interference ability,it does not require the accurate mathematical model of the controlled object,and the extended state observer can be used to estimate and compensate the internal state and uncertainty of the system.Therefore,it has strong adaptability to the model.However,due to the problems such as not easy to adjust the parameters of the ADRC,few engineering application examples,and the lack of practical controller parameter tuning experience,the application in the industrial control is limited.Therefore,on the basis of the analysis of the structure of the ADRC,a set of parameter tuning method of the integral linear disturbance rejection controller is proposed.It is applied to the control system of reheat steam temperature in thermal power plant.Firstly,a 2 order Integral Linear Active Disturbance Rejection Controller(I-LADRC)is proposed in this paper.The necessary and sufficient conditions for the stability of the controller and the form of the steady-state error are obtained through the analysis of the stability and the steady-state error of I-LADRC.Compared with the traditional LADRC algorithm,the simulation results show that the integral link can effectively improve the response speed of the LADRC system,reduce the adjustment time,enhance the robustness of the system and eliminate the steady state error.Secondly,in order to solve the problem of tuning0 b parameters,a0 b parameter tuning method based on N4 SID subspace model identification algorithm is proposed by combining the N4 SID subspace model identification algorithm with the ADRC.The bandwidth of the observer and the bandwidth of the controller are adjusted according to the expected adjustment time,so that the whole parameter tuning process is simplified,which is more convenient for practical engineering application.This method is tested in low order system,non minimum phase system,high order system and time-delay system,simulation results show that I-LADRC can be applied to different types of systems,and has better robustness compared with LADRC.Finally,since the large time delay,nonlinear,variable coupling and strong disturbance in the reheat steam temperature control system of thermal power plants are increasingly remarkable,the traditional PID controller is difficult to obtain satisfactory control effect.In order to solve the above problems,an integral linear disturbance rejection control scheme isdesigned in this paper,and the mathematical model of reheat steam temperature system in Jingmen thermal power plant is identified by N4 SID method.The control capability of I-LADRC controller is studied,and the simulation and field test are carried out.The results of simulation and field tests show that the I-LADRC controller can effectively overcome the problems of large time delay and nonlinearity of the reheat steam temperature system,and has good robustness.The results of this paper show that the active disturbance rejection control technology has a certain application prospect in the control of reheat steam temperature system.