目錄
第1章引言
1.1研究背景和意義
1.2研究進展和現狀
1.2.1熱工過程控制研究現狀
1.2.2不確定性: 自動控制的核心問題
1.2.3傳統(tǒng)二自由度控制結構
1.2.4基于擾動觀測器的二自由度控制
1.2.5基于擴張狀態(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器的二自由度控制
1.3現代二自由度控制方法的特點
1.4研究內容和技術路線
第2章單變量二自由度控制理論基礎研究
2.1時滯過程二自由度PI的最優(yōu)抗擾整定
2.1.1研究背景
2.1.2問題描述
2.1.3一個新的魯棒性指標——相對時滯裕度
2.1.4PI控制器參數變換和穩(wěn)定域計算
2.1.5PI控制器參數穩(wěn)定域求解
2.1.6基于時滯魯棒性約束的優(yōu)化問題
2.1.7仿真例子
2.2時滯過程的改進一階ADRC控制及定量整定
2.2.1時滯ADRC結構
2.2.2補償對象回路近似分析與ωo整定
2.2.3基于預期動態(tài)的kp參數整定
2.2.4仿真例子
2.3時滯過程二自由度UDE控制和定量整定
2.3.1時滯過程的改進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整定
2.3.4仿真例子
2.4基于改進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ESO設計
2.4.2反調量受限的最優(yōu)前饋設計
2.4.3收斂性和參數整定
2.4.4仿真例子
2.5本章小結
第3章自抗擾控制的應用基礎研究
3.1一階ADRC的數學描述
3.2一階ADRC的工程實現
3.3參數自整定工具和重調策略
3.4ESO的離散化及其穩(wěn)定性
3.5水箱測試試驗
3.5.1試驗平臺介紹
3.5.2一階ADRC控制邏輯的基礎測試
3.5.3一階ADRC參數自整定工具與重調策略的驗證
3.5.4時滯對象TDADRC參數整定方法的試驗研究
3.6本章小結
第4章自抗擾控制在單變量熱工過程中的試驗研究
4.1某超超臨界機組的低壓加熱器凝結水位控制
4.1.1過程描述
4.1.2過程辨識和控制仿真
4.1.3現場應用
4.2某亞臨界機組的磨煤機出口風溫控制系統(tǒng)
4.2.1過程描述
4.2.2過程辨識和TDADRC控制仿真
4.2.3現場應用
4.3本章小結
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仿真結果
5.2基于直接能量平衡的亞臨界火電機組ADRC協(xié)調
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
5.2.4參數辨識和校驗
5.2.5DEB控制結構的解耦性分析
5.2.6基于多目標優(yōu)化的DEBADRC協(xié)調控制方法
5.3本章小結
第6章總結與展望
6.1研究總結
6.2進一步工作的建議與展望
附錄: 幾個定理的證明
參考文獻
在學期間發(fā)表的學術論文
致謝
Contents
Contents
Chapter 1Introduction1
1.1Background and Significance1
1.2StateoftheArt3
1.2.1Progress of Thermal Process Control3
1.2.2Uncertainty: Core of Automatic Control4
1.2.3Classical 2DOF Control Structure6
1.2.4Disturbance Observer Based Control7
1.2.5ESO Based 2DOF Control Structure: Active
Disturbance Rejection Control9
1.2.6Uncertainty and Disturbance Estimator Based
2DOF Control11
1.3Characteristics of Modern 2DOF Control12
1.4Research Content and Technical Route13
Chapter 2Theoretical Research of SingleLoop 2DOF Control16
2.1Optimal Disturbance Rejection Based PI Tuning of
TimeDelay 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
2.1.6TimeDelay Robustness Constrained
Optimization24
2.1.7Simulation Examples27
2.2Improved FirstOrder ADRC Design and Quantitative
Tuning for TimeDelay Process28
2.2.1TimeDelay 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
TimeDelay Process35
2.3.1Improved UDE Based Control for TimeDelay
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 2DOF Control for NonMinimum
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 FirstOrder ADRC53
3.2Engineering Realization of FirstOrder ADRC54
3.3AutoTuning and Retuning of Parameters56
3.4Discretization and Stability of ESO58
3.5Water Tank Test59
3.5.1Experimental Setup59
3.5.2Preliminary Test of FirstOrder ADRC
Control Logics59
3.5.3Verification of AutoTuning and Retuning of
FirstOrder ADRC61
3.5.4Experimental Research of Parameter Tuning
of TimeDelay ADRC63
3.6Chapter Summary66
Chapter 4Field Test Research of ADRC in SingleLoop
Thermal Process67
4.1Condensed WaterLevel Control of An UltraSupercritical
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 TDADRC74
4.2.3Field Test76
4.3Chapter Summary79
Chapter 5Simulation of 2DOF 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
5.2.6MultiObjective Optimization of DEBADRC
Coordinated Control103
5.3Chapter Summary108
Chapter 6Conclusion and Outlook109
6.1Book Summary109
6.2Further Work110
Appendix: Proof of Theorems112
References120
Publications130
Acknowledgements132