第五届控制科学与工程前沿论坛 高志强. Center for Advanced Control Technologies

Transcription

1 第五届控制科学与工程前沿论坛 自抗扰控制技术的理念 方法与应用 纪念韩京清先生逝世五周年 高志强 二零一三年四月十九日 Center for Advanced Control Technologies

2 概要 引言自抗扰控制的渊源自抗扰控制的应用自抗扰控制的论证抗扰技术研究小结

3 引言

4 君子务本, 本立而道生

5 韩京清 : 六十年代 : 最优控制, 留苏 ( 不变性原理 ) 七十年代 : 制导理论, 反馈系统的标准型八十年代 : 线性系统理论, 计算机辅助设计 : : 自抗扰控制

6 ADRC in U.S.: Milestones 1997: Prof. Han visited CSU; made the 1 st successful ADRC hardware test on a servo mechanism 2001: ADRC papers presented at CDC 2003: linear, paramerized ADRC, patent app. 2008: $1M venture capital, grew by $5M in : 1 st factory implementation, ti 10 Parker extrusion lines (cpk: from 2.3 to >8; avg. energy saving 57% ). 2011: Texas Instrument adopts ADRC; 3 patents granted. 2013: Texas Instrument New Motion Control Chips 6

7 Breaking News from TI

8 Breaking News

9 Breaking News

10 自抗扰控制的渊源

11 中国古代的指南车

12 指南车的抗扰控制

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15 J.V. Poncelet ( 庞雪莱 )( ) French Mathematician projective geometry Napoleon Soldier , prisoner in Moscow Engineer Introduction to Industrial Mechanics, 1829 Analyzed steam engine Isochronous Governor: a BIG idea: measure dist.

16 Grigoriy Shipanov ( ) Soviet Engineer, Professor Problem of automatic control: making output invariant i in the presence of disturbance. 1938, dissertation, not understood by the university committee members: 6 voted No, 4 voted Yes, 20 didn t vote. The same committee awarded Shipanov the title of Professor 1938, hired by Kulebyakin, head of the Institute of Automatics and Telemechanics, finished his research there 1939, a short publication of his completed research provoked heated debate on the ideological basis 1941, publicly accused of creating a fantastic controller by mathematical speculations instead of meeting demands of a growing Soviet economy

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18 Moscow - Beijing - Cleveland J. Han, Ph.D. Student, , Moscow State Univ. 1979, Han, Lecture series on linear system theory; Oversaw China s first massive CAD project in 1980s 1989, Han, Control theory: Model or Control? , Han, Extended State Observer and the conception of ADRC 1995, Z. Gao, met with Han, first heard of ADRC; David (Xuejun) Wang, introduce Han s research to Gao s group at Cleveland State University 1997, Han visited CSU, conducted first successful ADRC motion control hardware test 2001, Gao, Huang, Han, 1 st ADRC paper, CDC 2003, Han visited CSU again; ADRC was greatly simplified by Gao via bandwidth parameterization, making it a viable technology; patent application 2008, Han passed away 2008, A venture capital firm invest $1M into the CSU spinoff to commercialize ADRC technology 2009, Han s last paper: IEEE TIE. 2011, Licensing Agreement with Texas Instruments 2012, 2 nd round venture funding, USVP

19 自抗扰控制技术的应用

20 例 1: 运动控制,CSU,1997

21 1997 年韩京清先生访问美国克里夫兰州立大学高志强实验室, 并在那里成功实现了 ADRC 运动控制实验图为韩京清 高志强 蒋方军在实验台前合影

22 伺服控制设计的灰箱法 对象 y = f( yywt,,, ) + bu 标准型 y = bu 总扰动 f ˆ( t) f( y, y, w,) t

23 自抗扰 y = f( y, y, w, t) + bu fˆ u = u ˆ 0, f f b y bu 0 23

24 总扰动的估计 : 扩张状态观测器 y = f ( y, y, wt, ) + u x = yx, = y, x = f( y, y, wt, ) x 1 = x 2 x = x + u x 3 = f y = x1 2 3, Extended State Observer (ESO) z 1 = z 2 β 1 g 1 ( z 1 y ) z 2 = z3 β2g2( z1 y) + u z 3 = β3g3( z1 y) z x z x z x = f

25 自抗扰控制的思路 积分器串联型 抗扰 控制器设计 扰动对象 - 标准型

26 控制科学与工程的范式 PID 范式 基于误差 基于经验 无模型 抗扰范式 基于扰动信息 基于标准型 主动 模型范式 基于内部机理 基于推导 优化 y = f() t + bu y = f( y, y ) + bu

27 灰箱法简例 y = ( a y a y + d ) + bu 1 0

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29 (db) Magnitude a 1 =3.085, 3085 ω o =100, ω c =100 Downwards: a 0 =0, 0.1, 1, 10, e (deg) Phas Upwards: a 0 =0, 0.1, 1, 10, Frequency 10 0 (rad/sec)

30 例 2 ADRC in Motion Control,2009 Industrial, Third Party, Verifications at a Fortune 100 Company in North America

31 Motion Control Test: Accuracy 60 Accuracy 6σ Impact: Significantly improve quality control, reducing defective parts per million (DPPM) PID 0 0 ADRC Position Error time (s) time (s) 81% Reduction in Position Error

32 Motion Control Test: Energy Savings Energy Savings Impact: Reduce power usage by minimizing overshoots, vibration, and delayed response 6 6 x 10 6 Control Signal PID ADRC time (s) time (s) 41% Reduction in Energy (RMS Torque)

33 Motion Control Test: Machine Life Machine Life Impact: Reduce wear and tear on machine, creating less downtime and prolonged life x 1010 PID ADRC Jerk time (s) time (s) RESULT: 71% Reduction in Jerk 33

34 例 3:Parker 挤压机,2010 Implemented in PLC across ten extrusion lines, with an average of 57% energy savings

35 Extrusion

36 问题 : 多温区, 强耦合, 未知动态

37 Disturbance Decoupling Control r1 u 1 1 r m + um y ym

38 Temperature Control Temperature Set-point PID passively responds to disturbance, causing zone oscillation Temperature Set-point ADRC actively rejects disturbance, delivering smooth system control

39 Power Reduction by 58%! 39

40 The implementation was simple. I sent them our existing PLC program over , and a week later they showed up and installed the new program during shift changeover. The results were immediate heat zones achieved equilibrium with little to no temperature fluctuation, and the power meter readouts look like they fell off a cliff. Scott Burrowbridge Control Engineer Parker Hannifin

41 例 4: 高能物理, 2011 NSCL at MSU 3 MeV/u re-accelerator (ReA3) FRIB 400 kw, 200 MeV/u SRF linear accelerator (LINAC)

42 ReA3 Status at NSCL [1] Cryomodule 1 and 2 installed, 7 SRF cavities in total; Cryomodule 3 (8 SRF cavities) to be installed;

43 Microphonics [Schilcher, 1998]

44 Simulation Model ESO x1_hat y Amplitude Setpoint k1 x2_hat -K- 1/b_hat u VgI VcI I Cartesian to Polar Amplitude Phase Setpoint k1 -K- 1/b_hat Polar to Cartesian VgQ Cavity VcQ Phase x2_hat x1_hat ESO u y Q

45 Simulation and Test Results Amplitude Step Phase Step

46 ADRC Results on ReA3 [2] Two times improvement in simulation (top) Four times improvement in tests (bottom); Running on ReA3 since Jan. 2011;

47 自抗扰控制的论证

48 自抗扰控制的理论分析 跟踪微分器 韩京清, 王伟, 非线性跟踪 - 微分器, 系统科学与数学, 14(2): , 韩京清, 袁露林, 跟踪 - 微分器的离散形式, 系统科学与数学,1999, 19(3): B.Z. Guo, J. Q. Han and F.B. Xi, Linear tracking-differentiator and application to online estimation of the frequency of a sinusoidal signal with random noise perturbation, International Journal of Systems Science, 33(5)(2002), W. Xue, Y. Huang, X. Yang, What Kinds of System Can Be Used as Tracking Differentiator, Proc. of The 2010 Chinese Control Conference, 2010: B.Z.Guo and Z.L.Zhao, On convergence of nonlinear tracking differentiator, International Journal of Control, 84(2011), B.Z.Guo and Z.L.Zhao, Weak convergence of nonlinear high-gain tracking differentiator, IEEE Transactions on Automatic Control, April, 2013.

49 自抗扰控制的理论分析 扩张状态观测器 韩京清, 一类不确定对象的扩张状态观测器, 控制与决策, 1995, NO.1: Q. Zheng, Linda Q. GAO, and Zhiqiang Gao, On Estimation of Plant Dynamics and Disturbance from Input- Output Data in Real Time, Proceedings of the 2007 IEEE Multi-conference on Systems and Control, Singapore, October 1-3, D. Yoo, S. S. -T T. Yau, and Z. Gao, Optimal Fast Tracking Observer Bandwidth of the Linear Extended State Observer, International Journal of Control, Volume 80, Number 1/January 2007, pp X. Yang, Y. Huang, Capability of extended state observer for estimating uncertainties. Proc. of The 2009 American Control Conference, 2009: B.Z.Guo and Z.L.Zhao, On the convergence of extended state observer for nonlinear systems with uncertainty, Systems and Control Letters, 60(2011), B.Z.Guo and Z.L.Zhao, On convergence of nonlinear extended state observer for MIMO systems with uncertainty, IET Control Theory & Applications, 6(2012), Qing Zheng, Linda Gao, and Z. Gao, On Validation of Extended State Observer through Analysis and Experimentation, ASME Journal of Dynamic Systems, Measurement and Control, March 2012.

50 自抗扰控制的理论分析 线性 ADRC Z. GAO,, SCALING AND BANDWIDTH-PARAMETERIZATION BASED CONTROLLER TUNING,, PROCEEDINGS OF THE AMERICAN CONTROL CONFERENCE, COLORADO JUNE 4-6, 2003, Qing Zheng; Gao, L.Q.; Zhiqiang Gao; On stability analysis of active disturbance rejection control for nonlinear time-varying plants with unknown dynamics, Proc. of 2007 IEEE CDC, Page(s): W. ZHOU, S. SHAO, AND Z. GAO, "A STABILITY STUDY OF THE ACTIVE DISTURBANCE REJECTION CONTROL PROBLEM BY A SINGULAR PERTURBATION APPROACH", APPLIED MATHEMATICAL SCIENCES, VOL 3, NO. 10, Q. Zheng, Z. Chen, and Z. Gao, A Practical Dynamic Decoupling Control Approach, Control Engineering Practice, Vol. 17, pp , July W. Xue, Y. Huang, Comparison of the DOB Based Control, A Special Kind of PID Control and ADRC, Proc. of The 2011 American Control Conference, pp , San Francisco, W. Xue, Y. Huang, The Active Disturbance Rejection Control for a Class of MIMO Block Lower-triangular system, Proc. of The 2011 Chinese Control Conference, pp , Yantai, W. XUE, ON THEORETICAL ANALYSIS OF ACTIVE DISTURBANCE REJECTION CONTROL, DOCTORAL THESIS, BEIJING: AMSS, 2012.

51 自抗扰控制的理论分析 频率响应法 Gang Tian, Zhiqiang Gao, Frequency Response Analysis of Active Disturbance Rejection Based Control System, Proc. of the 2007 IEEE Multi-conference on Systems and Control, October 1-3, Jason Tatsumi, Zhiqiang Gao, On Root Locus Analysis of Active Disturbance Rejection Control, To be presented at the 2013 Chinese Control Conference, July 26-28, 2013, Xi an, China. Congzhi Huang, Zhiqiang Gao, On Transfer Function Representation and Frequency Response of Linear Active Disturbance Rejection Control, 2013 Chinese Control Conference. Dan Wu, Ken Chen. Frequency enc Domain Analysis of Nonlinear Active Disturbance Rejection Control via the Describing Function Method. IEEE Transactions on Industrial Electronics, (To be published) Dan Wu, Ken Chen. Limit cycle analysis of active disturbance rejection control system with two nonlinearities. Submitted to ISA Transactions.

52 自抗扰控制的理论分析 非线性 ADRC 韩京清, 自抗扰控制器及其应用, 控制与决策,1998, NO.1: J. HAN,NONLINEAR DESIGN METHODS FOR CONTROL SYSTEM, THE PROCEEDINGS OF THE 14 TH IFAC WORLD CONGRESS, BEIJING, 1999, VOL.C, B.Z.Guo and Z.L.Zhao, On convergence of the nonlinear active disturbance rejection control for MIMO Systems, SIAM Journal on Control and Optimization, Vol. 51, No. 2, pp , May 2013.

53 抗扰技术研究

54 层次

55 理念的产生与论证 瓦特, 庞雪莱,H. H Black, 韩京清敢于质疑 创新, 不拘于数学证明对工程控制的论证 :Bode, Nyquist 理念与技术和应用的关系理论 : 背后有没有真切的理念?

56 工程控制论 钱学森, 1954; 钱学森, 宋健,1979

57 知行合一 知之真切笃实处即是行, 行之明觉精察处即是知, 知行功夫本不可离, 只为后世学者分作两截用功, 失却知行本体, 故有合一并进之说 传习录, 王阳明

58 模型观

59 Karl Astrom, 2012 ACC Holistic view was lost Adaptive Control didn t scale in industry PID Tuning "We should not forget the foundation because then the tower will tumble"

60 技术研究 理念的工程化与工业化结构简单, 适用面广, 不依赖模型控制效果, 鲁棒性, 调试容易 ( 直观 ) 为应用研究提供工具为理念研究提供课题

61 应用研究 解决行业性的问题抗扰的理念与过程知识的有机结合基础 : 理念的把握, 问题的认识从认识到实践的第二次飞跃为技术研究提出背景和要求为理念研究提供灵感和素材

62 结束语 目标 : 把自抗扰技术放在每个工程师手中 抗扰 : 控制工程的核心问题 继承我们的文化渊源 ( 指南车, 知行合一 ) 继续先进理念的技术化 工程化 结构, 适用面, 模型, 品质, 鲁棒性, 调试 z.gao@ieee.org

63 自抗扰控制讲习班 从指南车到自抗扰控制 : 不灭的理念自动控制 : 问题 前提 方法 主要矛盾古典与现代控制的理念与实践抗扰控制 : 范式 理念 方法与技术自抗扰控制思想的灵活应用

64 美国,2003 年