The invariance principle in disturbance rejection control

DOI编号  10.7641/CTA.2019.80983
2020,37(2):236-244

 作者 单位 E-mail 李向阳 华南理工大学 xyangli@scut.edu.cn 高志强 美国克里夫兰州立大学

不变性原理是抗扰控制理论的基本原理，抗扰性能是不变性原理的外在表现. 本文对双通道扰动补偿控制、内模控制、基于扰动观测器的控制和自抗扰控制中的不变性原理进行分析；给出了这些抗扰控制方法之间的内在联系；指出自抗扰控制为内含由两种不变性实现的三自由度结构结构. 自抗扰控制采用总扰动的估计和补偿实现了广义被控对象的动态模型的不变性; 采用状态误差反馈控制率实现了准滑动模控制, 从而进一步实现对扰动的不变性. 按照不变性原理可以更好地把握抗扰控制的本质、简化控制思想的描述和指导工程实践.

The invariance principle is the basic principle of rejection control theory and the disturbance rejection performance is the external appearance of the invariance principle. This paper strives to clarify the invariance principle inside the dual channel disturbance compensation control, internal model control, disturbance observer based control and active disturbance rejection control (ADRC), presents the intrinsic relationship among them, and points out that ADRC has a three-dimension of freedom structure with two invariance principle implementations. ADRC utilizes the total disturbance estimation and compensation to realize the invariance of the dynamical model of the generalized controlled plant and applies state error feedback control law to realize the invariance of the quasi-sliding mode motion. The invariance principles depict the nature of disturbance rejection control very well, simplify the description of control theory and guide engineering practice.