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Active Disturbance Rejection Control for PMLM Servo System in CNC Machining

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Journal of Systems Science & Complexity 2016年第1期29卷 74-98页

作者： GUO Jianxin xue wenchao HU Tao Key Laboratory of Mathematics Mechanization Academy of Mathematic and Systems ScienceChinese Academy of Sciences Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences

Uncertain friction is a key factor that influences the accuracy of servo system in CNC *** this paper,based on the principle of Active Disturbance Rejection Control(ADRC),a control method is proposed,where both the extended state observer(ESO) and the reduced order extended state observer(RESO) are used to estimate and compensate for the *** authors prove that both approaches ensure high accuracy in theory,and give the criterion for parameters *** authors also prove that ADRC with RESO performs better than that with ESO both in disturbance estimation and tracking *** simulation results on CNC machine show the effectiveness and feasibility of our control approaches.

关键词： Active disturbance rejection control CNC machine nonlinear friction parameter selection servo system

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考虑弹性影响的运载火箭自抗扰减载控制方法

航空学报 2025年第1期46卷 235-252页

作者：刘子博张冉薛文超李惠峰北京航空航天大学宇航学院北京100191 中国科学院数学与系统科学研究院系统控制重点实验室北京100190

运载火箭的减载控制通过减小攻角以降低气动载荷,然而,现有的减载自抗扰控制(ADRC)方法未充分考虑弹性影响,可能导致干扰估计精度下降,甚至降低控制系统的稳定性。为此,分析了弹性振动对干扰估计及观测器增益的影响,提出了一种抑制弹性... 详细信息

运载火箭的减载控制通过减小攻角以降低气动载荷,然而,现有的减载自抗扰控制(ADRC)方法未充分考虑弹性影响,可能导致干扰估计精度下降,甚至降低控制系统的稳定性。为此,分析了弹性振动对干扰估计及观测器增益的影响,提出了一种抑制弹性振动的改进措施,通过隔离弹性运动与刚体运动,使扩张状态观测器(ESO)的量测输入与观测模型相匹配。基于此,推导了考虑弹性振动的自抗扰减载控制系统的开环传递函数,并给出一套参数整定规则,通过合理配置减载反馈控制带宽和扩张状态观测器带宽,在保证系统稳定裕度的基础上,简化了参数整定过程。仿真与实验结果表明,该方法提升了系统稳定性,同时实现了有效的干扰抑制和减载效果。最后,通过半实物仿真和火箭飞行试验验证了该算法的可行性。

关键词：运载火箭姿态控制减载控制弹性振动干扰抑制自抗扰控制(ADRC) 飞行试验

On Hierarchical Compensation Based Active Disturbance Rejection Control for ACMM Problem of Spacecraft

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Journal of Systems Science & Complexity 2023年第4期36卷 1480-1497页

作者： LIU Ping CHEN Seng xue wenchao LI Wenbo School of Aeronautics and Astronautics Sun Yat-sen UniversityShenzhen 518107China LSC NCMISAcademy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China Shenzhen Faroad Intelligent Equipment Co. LtdShenzhen 518105China School of Mathematics and Information Science Shaanxi Normal UniversityXi’an 710062China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China Beijing Institute of Control Engineering China Academy of Space TechnologyBeijing 100086China

The attitude control and momentum management(ACMM)problem is quite fundamental for many spacecrafts including space stations,sky laboratories and *** of single attitude control problem,ACMM problem has to take account of both disturbance rejection and energy *** paper studies the ACMM problem for general spacecraft.A practical active disturbance rejection control architecture is proposed with hierarchical compensation to different kinds of uncertain dynamics or *** particular,by integrating RLS into ESO,the constant and sinusoidal disturbance terms to be compensated are ***,the LQR law is implemented to achieve the desired performance of control systems after disturbance ***,quantitative performances of the generalized ESO,the RLS algorithm and the closed-loop tracking system are rigorously ***,the results under 9-DOF semi-physical test environment show the effectiveness of our control method.

关键词： Active disturbance rejection control attitude control and momentum management extended state observer hierarchical compensation

Recursive Projected Filter Algorithm with Binary-Valued Observations

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Journal of Systems Science & Complexity 2024年第5期37卷 1832-1860页

作者： ZHANG Xiaoyan WANG Ying xue wenchao ZHAO Yanlong Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China

This paper focuses on the state estimate for a class of systems with both process noise and measurement noise under binary-valued observations,in which the Gaussian assumption on the predicted density of the state is not required.A recursive projected filter algorithm with time-varying thresholds is constructed to estimate the state under binary-valued *** time-varying thresholds are designed as the prediction value of the measurement,which can provide more information about the system *** convergence property is established with some suitable stability,boundedness and observability *** particular,the estimation error between state and estimate is proved to be asymptotically bounded in the mean-square sense,whose upper bound is related to the variance of process ***,the theoretical results are demonstrated via numerical examples of first-order and high-order systems.

关键词： Binary-valued observations convergence recursive filter time-varying thresholds

On Designing Consistent Extended Kalman Filter

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Journal of Systems Science & Complexity 2017年第4期30卷 751-764页

作者： JIANG Yanguang HUANG Yi xue wenchao FANG Haitao Beijing Institute of Control&Electronics Technology Beijing 100038China Key Laboratory of Systems and Control Academy of Mathematics and Systems Scienceand National Center for Mathematics and Interdisciplinary SciencesChinese Academy of SciencesBeijing 100190China

This paper studies the consistency of the extended Kalman filter(EKF) for a kind of nonlinear systems. Based on the EKF algorithm, the authors propose the quasi-consistent EKF(QCEKF)as well as the tuning law for its parameters. The quasi-consistency of the proposed algorithm is ***, the feasibility of the algorithm is illustrated by the numerical simulation on an orbit determination example.

关键词： Extended Kalman filter (EKF) consistency nonlinear system.

On extended state based Kalman filter for nonlinear time-varying uncertain systems with measurement bias

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Control Theory and Technology 2021年第1期19卷 142-152页

作者： Xiaocheng Zhang wenchao xue Hai-Tao Fang LSC NCMISAcademy of Mathematics and Systems ScienceChinese Academy of SciencesBeijingChina Schoo of Mathematical Sciences University of Chinese Academy of SciencesBeijingChina

This paper addresses the state estimation for a class of nonlinear time-varying stochastic systems with both uncertain dynam-ics and unknown measurement bias.A novel extended state based Kalman filter(ESKF)algorithm is developed to estimate the original state,the uncertain dynamics and the measurement *** is shown that the estimation error of the proposed algorithm is bounded in the mean square ***,the estimation of the measurement bias asymptotically converges to its true value,such that the infuence of measurement bias is ***,the asymptotic optimality of the estima-tion result is proved while the uncertain dynamics approaches to a constant ***,a simulation study for harmonic oscillator system model is provided to ilustrate the effectiveness of proposed method.

关键词： Extended state observer Kalman filter Uncertain dynamics Measurement bias

On ADRC for non-minimum phase systems： canonical form selection and stability conditions

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Control Theory and Technology 2016年第3期14卷 199-208页

作者： wenchao xue Yi HUANG Zhiqiang GAO Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China Department of Electrical and Computer Engineering Cleveland State University Cleveland Ohio 44175 U.S.A.

Active disturbance rejection control （ADRC）, as proposed by Prof. Jingqing Han, reduces first the plant dynamics to its canonical form, normally in the form of cascade integrators, for which the standard controller can be employed to meet the design specifications. This paper concerns with the selection of the canonical form for non-minimum phase systems. In particular, it is shown that, by employing the well known controllable canonical form, the uncertainties of such systems can be divided into two terms in the state space model, one in the control channel and the other in the output channel. The necessary and sufficient condition is obtained for the stability of the closed-loop system with the proposed canonical form and ADRC. Also, by showing the necessity of the detectability of the extended system as well as certain information of the system-s ＂zeros＂, we present the fundamental guidelines of design ADRC for non-minimum phase uncertain systems.

关键词： Active disturbance rejection control (ADRC) extended state observer (ESO) rejector uncertain systems non-minimum phase

Radar Target Recognition Algorithm Based on RCS Observation Sequence——Set-Valued Identification Method

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Journal of Systems Science & Complexity 2016年第3期29卷 573-588页

作者： WANG Ting BI Wenjian ZHAO Yanlong xue wenchao The Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of Sciences

This paper studies the problem of radar target recognition based on radar cross section(RCS)observation ***,the authors compute the discrete wavelet transform of RCS observation sequence and extract a valid statistical feature vector containing five *** five components represent five different features of the radar ***,the authors establish a set-valued model to represent the relation between the feature vector and the authenticity of the radar *** set-valued identification method,the authors can estimate the system parameter,based on which the recognition criteria is *** order to illustrate the efficiency of the proposed recognition method,extensive simulations are given finally assuming that the true target is a cone frustum and the RCS of the false target is normally *** results show that the set-valued identification method has a higher recognition rate than the traditional fuzzy classification method and evidential reasoning method.

关键词： Feature extraction radar target recognition RCS set-valued identification wavelet transform.

On comparison of modified ADRCs for nonlinear uncertain systems with time delay

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Science China(Information Sciences) 2018年第7期61卷 212-226页

作者： Sen CHEN wenchao xue Sheng ZHONG Yi HUANG Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences School of Mathematical Sciences University of Chinese Academy of Sciences

To tackle systems with both uncertainties and time delays, several modified active disturbance rejection control(ADRC) methods, including delayed designed ADRC(DD-ADRC), polynomial based predictive ADRC(PP-ADRC), Smith predictor based ADRC(SP-ADRC) and predictor observer based ADRC(PO-ADRC), have been proposed in the past years. This paper is aimed at rigorously investigating the performance of these modified ADRCs, such that the improvements of each method can be *** capability to tackle time delay, the necessity of stable open loop and the performance of rejecting uncertainties for these methods are fully studied and compared. It is proven that large time delay cannot be tolerated for the stability of the closed-loop systems based on DD-ADRC and PP-ADRC. Moreover, stable open loop is shown to be necessary for stabilizing the closed-loop systems based on SP-ADRC. Furthermore,the performance of rejecting the "total disturbance" at low frequency for these modified ADRCs is evaluated and quantitatively discussed. Finally, the simulations of a boiler turbine system illustrate the theoretical results.

关键词： extended state observer active disturbance rejection control uncertain system time delay predictor