自抗擾控制技術(shù)的發(fā)展與應(yīng)用

自抗擾控制技術(shù)的發(fā)展與應(yīng)用高志強(qiáng)2014.12.16SouthPointingChariotMaJun,200-265CE(ThreeWarringStates)SouthPointingChariotJean-VictorPoncelet(1788-1869)FrenchMathematicianprojectivegeometryNapoleonSoldier

1813-14,imprisonedinMoscowEngineer “IntroductiontoIndustrialMechanics”,1829Steamenginegovernor:aBIGideaSchipanov:invarianceprincipleGrigoriyShipanov(1903-1953)SovietEngineer,ProfessorStudiedproblemsofdisturbancecompensationinautomaticcontrolsystems MSTU1938,dissertation,notunderstoodbytheuniversitycommitteemembers:6voted“No,”4voted“Yes,”20didn’tvote.ThesamecommitteeawardedShipanovthetitleofProfessor1938,hiredbyKulebyakin,headoftheInstituteofAutomaticsandTelemechanics,finishedhisresearchthere1939,ashortpublicationofhiscompletedresearchprovokedheateddebateontheideologicalbasis1941,publiclyaccusedofcreatinga“fantastic”controllerbymathematicalspeculationsinsteadofmeetingdemandsofagrowingSovieteconomyBorisPetrov(1913-1980)StudentofLuzinandKulebiakinRussianscientist,AcademicianofUSSR,co-founderofSovietspaceprogram;workedwithSergeiKorolevonR-7rocketinSputnikProgram(lunarrover,Apollo–Soyuz,etc)Practicalimplementationofinvariancetheory1953,basedoninvariancetheory,“dualchannelprincipleofcontrol”,oneofthepillarsofsovietautomaticcontrolUsinghisauthority,publishedresultsofhisworkandinsistedonrehabilitatingShipanov’snameandhisscientificworkIn1958,organizedthefirstmeetinginKievoninvarianceIn1966,thetheoryofinvariancewasrecognizedasadiscoveryandtheproperpatentwasissued(13yearsafterShipanovdied)1981:ThelastconferenceonInvarianceTheory2004:“70YearsofInvariance”FromProf.A.Kurdyukov,RAS,July12,2010JingqingHan(1937-2008)KoreanChinese,MathematicianPh.D.Student,1963-66,MoscowUniversity1966RedSquareprotest;deportation;ReceptionatGao’sapartment1966-1976:CultureRev.Lectureseriesin1979LinearsystemtheoryMilestonepaperin89ConceptionofADRC,95VisitingCSUin97&03ADRCTimeLine1979,Han,Lectureseriesonlinearsystemtheory;OversawChina’sfirstmassiveCADprojectin1980s1989,Han,“Controltheory:ControlTheory:Isthisaboutcontrolsormodels?”1995,Han,ExtendedStateObserverandtheconceptionofADRC1995,1996,Gao,metwithHantwice,firstheardofADRC;David(Xuejun)Wang,introduceHan’snonlinearcontrolresearchtoGao’sgroupatClevelandStateUniversity1997,HanvisitedCSU,conductedfirstsuccessfulADRChardwaretest2001,Gao,Huang,Han,1stADRCpaper,CDC2003,HanvisitedCSUagain;ADRCwasgreatlysimplifiedbyZhiqiangGaoviabandwidthparameterization,makingitaviabletechnology;patentapplication2008,Hanpassedaway2009,Han’slastpaper:FromPIDtoActiveDisturbanceRejectionControl,wastranslatedbyGaoandpublishedinIEEETransactionsonIndustriesandElectronics.HisbookonADRCwasalsopublished.F:不確定性的范圍；V的定義:由系統(tǒng)的硬、軟件限制決定PIDtuning:IV-35TheLADRCExampleIV-36SimulationIV-37SimulationADRC控制技術(shù)的工程化ADRCinU.S.:Milestones391997:Prof.HanvisitedCSU;madethe1stsuccessfulADRChardwaretestonaservomechanism2001:ADRCpaperspresentedatCDC2003:linear,

paramerizedADRC,patentapp.2008:$1Mventurecapital,grewby$5Min2012.2010:1stfactoryimplementation,10Parkerextrusionlines(cpk:from2.3to>8;avg.energysaving57%).2011:TexasInstrumentadoptsADRC;3patentsgranted.2013:TexasInstrumentNewMotionControlChipsBreakingNewsfromTIBreakingNewsBreakingNewsTotalDisturbanceEstimation:anewframework

ArenditionofthePoncelet’sInvariancePrincipleandHan’sADRCIV-46DisturbanceRejectionTotalDisturbanceNoiseExternalDisturbanceNoise ActiveConcept:TotalDisturbanceUncertaintyasawholeRejectionofMechanismEstimateCancel(Poncelet,Shipanov,Petrov,Han) PassiveRejectionMechanismReacttoe=r-yInherentWeaknessLatencyComplicatescontroldesignDynamicUncertaintyIV-47PassiveDisturbanceRejectionRealPlantNominalModelExternalDisturbanceNoiseDesignModelModelMismatch?DesignModelEnforcementMeetingtheDesignSpecsDynamicUncertaintyDesignModel:CanonicalFormfromLectureIIIIV-48TotalDisturbanceEstimationRealPlantNominalModelRealPlantEx