Abstract
Taking dead-zone nonlinearlity and external disturbances into account, an active disturbance rejection optimal controller based on a proportional-derivative (PD) control law is proposed by connecting the proportional-integral-derivative (PID) control, the active disturbance rejection control (ADRC) and particle swarm optimization (PSO), with the purpose of providing an efficient and practical technology, and improving the dynamic and steady-state control performances. Firstly, in order to eliminate the negative effects of the dead-zone, a class of 2-order typical single-input single-out system model is established after compensating the dead-zone. Following that, PD control law is introduced to replace the state error feedback control law in ADRC to simplify the control design. By analyzing the characteristics of the traditional linear extended state observer, an improved linear extended state observer is designed, with the purpose of improving the estimation performance of disturbances. Moreover, employing PSO with a designed objective function to optimize parameters of controller to improve control performance. Finally, ten comparative experiments are carried out to verify the effectiveness and superiority of the proposed controller.
Highlights
In industrial control systems, the dead-zone non-linearity of the control actuator directly affects the control performance and even leads to instability [1]
In this paper, taking dead-zone nonlinearity, and external disturbance into account, a PD-based active disturbance rejection control (ADRC) optimal controller is proposed by combining PD, ADRC and particle swarm optimization (PSO), with the purpose of simplifying the design as much as possible while improving the control performance
We propose an improved linear extended state observer (ESO) with smaller gains to obtain better estimation performance, in which estimation errors of all state variables, represented by e j = xj − x j, j = 1, 2, are introduced to Equation (9), instead of e1 :
Summary
The dead-zone non-linearity of the control actuator directly affects the control performance and even leads to instability [1]. Zhong et al [21] proposed a parameter formula by combining PID and ADRC, with the purpose of improving robustness and tracking performance of a 2-order system. Proposed a double closed-loop control method based on PID and ADRC to solve the position and attitude control of a quadrotor helicopter system with model uncertainties and disturbances, the above-mentioned control method has a complicated structure and many parameters. Liu et al [23] proposed an ADRC-based fractional-order PID for an active power filter, with the purpose of improving robustness and control performance. The rest of this paper is structured as follows: Section 2 establishes the dead-zone compensated model; Section 3 propose the PD-based ADRC optimal controller; Section 4 provides the comparative experiments, and analysis of the proposed controller.
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