Simulation And Experimental Verification Of Discrete Time Differential Flat Active Disturbance Rejection Control Approach Based On PLC

Nowadays,the traditional PID control theory plays a predominant role in the field of production and life.However,due to the difficulty in improving its performance,a series of advanced control strategies such as active disturbance rejection control(ADRC)approach have emerged.In this paper,the discrete-time differential flat active disturbance rejection control(DFADRC)approach is studied,and its control performance and disturbance rejection ability are verified by simulation and practical experiments.PLC plays a very important role in the field of modern industrial control.To design and implement DFADRC approach in PLC and verify it by setting up a practical test verification platform,which has an important impact on the development of advanced control strategies,and has an important practical significance in the field of industrial control,especially in the automatic control of thermal power plants.Firstly,the main parts of the test verification platform are briefly introduced,including Siemens S7-1200 PLC and servo drive system.Based on the principle of hardware wiring,the hardware wiring scheme of the test verification platform system is designed,and WinCC software is used to configure the monitoring screen.Then,the second-order DFADRC model is designed.Through analyzing the performance of designed extended state observer by formula derivation and frequency domain analysis,the excellent control performance and strong disturbance rejection ability of the proposed algorithm are verified,and the range of three parameters of the controller is determined.Furthermore,to improve the shortcomings,such as slow convergence speed and easy to fall into local optimum,of dynamic fireworks algorithm and basic artificial bee colony algorithm,the chaotic simulated annealing dynamic fireworks algorithm(CSAD_FWA)and global artificial bee colony algorithm based on crossover operation and chaos idea(CCGABC)are proposed.The effectiveness of the improved algorithms is proved by five classical test functions.Finally,a discrete-time DFADRC algorithm is designed and implemented in PLC using LAD programming language.At the same time,CSAD_FWA and CCGABC approaches are uesd respectively to achieve the parameters optimization of discrete-time DFADRC for the speed control of servo motor in MATLAB/Simulink.and the controller parameters obtained through simulating optimization are verified.Afterwards,the performance test of discrete-time DFADRC is carried out in the designed PLC platform and the test results also verify that the method has excellent control performance and strong disturbance rejection ability.