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Uncertainties existing in industrial processes always result in many challenges for controller design. To enhance the ability of the closed-loop system to handle the uncertainties, a desired dynamic equational (DDE) proportional-integral-derivative (PID) controller is designed based on probabilistic robustness (PR) in this article. The necessity of the proposed design method is demonstrated by introducing the problem formulation. Based on its fundamentals, DDE PID designed based on PR (DDE-PR PID) is proposed for uncertain systems and corresponding design procedure is summarized as a flow chart. Then the proposed DDE-PR PID is designed for several typical processes and simulation results indicate that the proposed DDE-PR PID cannot only achieve satisfactory control performance for nominal systems, but also satisfy control requirements for all uncertain systems with the maximum probability. Finally, the proposed DDE-PR PID is applied to the nonlinear model of a fluidized bed combustor unit and the level system of a water tank. Its superiority in robustness is validated by both simulations and experiments, which shows the promising prospect of DDE-PR PID in future power industry. On the other hand, the DDE method is extended to the generalized two-degree-of-freedom PID controller and its bandwidth-parameterization is proposed in this article as well.
Gengjin Shi; Donghai Li; Yanjun Ding; Yang Quan Chen. Desired dynamic equational proportional‐integral‐derivative controller design based on probabilistic robustness. International Journal of Robust and Nonlinear Control 2021, 1 .
AMA StyleGengjin Shi, Donghai Li, Yanjun Ding, Yang Quan Chen. Desired dynamic equational proportional‐integral‐derivative controller design based on probabilistic robustness. International Journal of Robust and Nonlinear Control. 2021; ():1.
Chicago/Turabian StyleGengjin Shi; Donghai Li; Yanjun Ding; Yang Quan Chen. 2021. "Desired dynamic equational proportional‐integral‐derivative controller design based on probabilistic robustness." International Journal of Robust and Nonlinear Control , no. : 1.
In this paper, we consider the stabilization of a wave equation with an unknown anti-stable injection on the left boundary and the control input on the right boundary, where there are both collocated and non-collocated measurements. A static output feedback control law is designed to stabilize the wave equation. The value ranges of the feedback gains are given, such that all eigenvalues of the closed-loop system are shown to be inside the left-half complex plane by applying the Nyquist criterion for distributed parameter systems. Then the exponential stability of the closed-loop system is established. Numerical simulations are presented to verify the effectiveness of the proposed feedback control law.
Yu-Long Zhang; Min Zhu; Donghai Li; Jun-Min Wang. Static boundary feedback stabilization of an anti-stable wave equation with both collocated and non-collocated measurements. Systems & Control Letters 2021, 154, 104967 .
AMA StyleYu-Long Zhang, Min Zhu, Donghai Li, Jun-Min Wang. Static boundary feedback stabilization of an anti-stable wave equation with both collocated and non-collocated measurements. Systems & Control Letters. 2021; 154 ():104967.
Chicago/Turabian StyleYu-Long Zhang; Min Zhu; Donghai Li; Jun-Min Wang. 2021. "Static boundary feedback stabilization of an anti-stable wave equation with both collocated and non-collocated measurements." Systems & Control Letters 154, no. : 104967.
Active disturbance rejection controller (ADRC) has achieved soaring success in motion controls featured by rapid dynamics. However, it turns obstreperous to implement it in the power plant process with considerable time-delay, largely because of the tuning difficulty. To this end, this paper proposes a quantitative tuning rule for the time-delayed ADRC (TD-ADRC) structure based on the typical first order plus time delay (FOPTD) model. By compensating the FOPDT process as an integrator plus time delay in low frequencies, the gain parameter of TD-ADRC can be related to a scaled time constant which shapes the closed-loop tracking performance. Bandwidth parameter of extended state observer is scaled as a dimensionless parameter. A sufficient stability condition of TD-ADRC is theoretically derived in terms of the scaled parameter pair, the range of which falls within the practical interest. Relative delay margin is revealed as a critical robustness metric among others, a default pair of scaled parameter setting is recommended as well as an explicit retuning guideline according to the user's preference for performance or robustness. Simulation and laboratory water tank experiment validate the tuning efficacy and a coal mill temperature control test depicts a promising prospective of the proposed method in process control practice.
Li Sun; Wenchao Xue; Donghai Li; Hongxia Zhu; Zhi-Gang Su. Quantitative Tuning of Active Disturbance Rejection Controller for FOPDT Model with Application to Power Plant Control. IEEE Transactions on Industrial Electronics 2021, PP, 1 -1.
AMA StyleLi Sun, Wenchao Xue, Donghai Li, Hongxia Zhu, Zhi-Gang Su. Quantitative Tuning of Active Disturbance Rejection Controller for FOPDT Model with Application to Power Plant Control. IEEE Transactions on Industrial Electronics. 2021; PP (99):1-1.
Chicago/Turabian StyleLi Sun; Wenchao Xue; Donghai Li; Hongxia Zhu; Zhi-Gang Su. 2021. "Quantitative Tuning of Active Disturbance Rejection Controller for FOPDT Model with Application to Power Plant Control." IEEE Transactions on Industrial Electronics PP, no. 99: 1-1.
In this paper, we consider the stabilization of an unstable wave equation through a dynamic boundary compensator. The measurement, which is one internal point of the state of the wave equation, is fluxed into the compensator while the output of the compensator is forced into the boundary of the wave equation. The well-posedness of the closed-loop system is proved by using the semigroup method. By choosing appropriate controller parameters and adopting Nyquist criterion for distributed parameter systems, the eigenvalues of the closed-loop systems are shown to be inside the left-half complex plane. Then the closed-loop system is proved to be exponentially stable by using the Riesz basis approach. Numerical simulations are presented to verify the effectiveness of the proposed compensator.
Yu-Long Zhang; Min Zhu; Donghai Li; Jun-Min Wang. Dynamic feedback stabilization of an unstable wave equation. Automatica 2020, 121, 109165 .
AMA StyleYu-Long Zhang, Min Zhu, Donghai Li, Jun-Min Wang. Dynamic feedback stabilization of an unstable wave equation. Automatica. 2020; 121 ():109165.
Chicago/Turabian StyleYu-Long Zhang; Min Zhu; Donghai Li; Jun-Min Wang. 2020. "Dynamic feedback stabilization of an unstable wave equation." Automatica 121, no. : 109165.
In this paper, we consider the input-to-state stabilization of an ODE-wave feedback-connection system with Neumann boundary control, where the left end displacement of the wave equation enters the ODE, while the output of the ODE is fluxed into boundary of the wave equation. The disturbance is appeared as a nonhomogeneous term in the ODE. Based on the backstepping approach, a state feedback control law is designed to guarantee the exponential input-to-state stability of the closed-loop system. The resulting closed-loop system has been shown to be well-posed by the semigroup approach. Moreover, we construct an exponentially convergent state observer based on which an output feedback control law is obtained, and the closed-loop system is proved to be input-to-state stable.
Yu-Long Zhang; Jun-Min Wang; Donghai Li. Input-to-state stabilization of an ODE-wave system with disturbances. Mathematics of Control, Signals, and Systems 2020, 32, 489 -515.
AMA StyleYu-Long Zhang, Jun-Min Wang, Donghai Li. Input-to-state stabilization of an ODE-wave system with disturbances. Mathematics of Control, Signals, and Systems. 2020; 32 (4):489-515.
Chicago/Turabian StyleYu-Long Zhang; Jun-Min Wang; Donghai Li. 2020. "Input-to-state stabilization of an ODE-wave system with disturbances." Mathematics of Control, Signals, and Systems 32, no. 4: 489-515.
The control performance can be worsened by actuator rate limit, which can result in amplitude attenuation and phase delay in process control. In some extreme situation, actuator rate limit may bring about the system non-convergence. This paper focuses on the control difficulties and solutions of first-order plus time-delay (FOPTD) systems caused by rate limit. The effect of rate limit on stability regions of proportional-integral (PI) controller is analysed. Results show that small rate limit can reduce stability regions of PI parameters greatly. The negative correlation between the integral gain and the onset frequency, and the positive correlation between the proportional gain and the onset frequency are conducted. Moreover, the control performance of different PI tuning rules such as Skogestad internal model control, integral gain maximization, delay robustness-constrained optimization and Tyreus-Luyben tuning rules is evidently affected by rate limit. Simulation and experiment results verify that the PI controller tuned by Skogestad internal model control method is less sensitive to the rate limit uncertainty and is more suitable for processes (the normalized dead-time is from 0.03 to 1) which have severe actuator rate limit. Tyreus-Luyben tuning rule is another optional method. In addition, the reasons why SIMC is not sensitive to rate limit variation are analysed. These analytical results can offer a guideline for practical applications.
Zhenlong Wu; Jie Yuan; Donghai Li; Yali Xue; YangQuan Chen. The influence of rate limit on proportional–integral controller for first-order plus time-delay systems. ISA Transactions 2020, 105, 157 -173.
AMA StyleZhenlong Wu, Jie Yuan, Donghai Li, Yali Xue, YangQuan Chen. The influence of rate limit on proportional–integral controller for first-order plus time-delay systems. ISA Transactions. 2020; 105 ():157-173.
Chicago/Turabian StyleZhenlong Wu; Jie Yuan; Donghai Li; Yali Xue; YangQuan Chen. 2020. "The influence of rate limit on proportional–integral controller for first-order plus time-delay systems." ISA Transactions 105, no. : 157-173.
Superheated steam temperature (SST) is a significant index for a coal-fired power plant. Its control is becoming more and more challenging for the reason that the control requirements are stricter and the load command changes extensively and frequently. To deal with the aforementioned challenges, previously the cascade control strategy was usually applied to the control of SST. However, its structure and tuning procedure are complex. To solve this problem, this paper proposes a single-loop control strategy for SST based on a hybrid active disturbance rejection control (ADRC). The stability and ability to reject the secondary disturbance are analyzed theoretically in order to perfect the theory of the hybrid ADRC. Then a tuning procedure is summarized for the hybrid ADRC by analyzing the influences of all parameters on control performance. Using the proposed tuning method, a simulation is carried out illustrating that the hybrid ADRC is able to improve the dynamic performance of SST with good robustness. Eventually, the hybrid ADRC is applied to the SST system of a power plant simulator. Experimental results indicate that the single-loop control strategy based on the hybrid ADRC has better control performance and simpler structure than cascade control strategies. The successful application of the proposed hybrid ADRC shows its promising prospect of field tests in future power industry with the increasing demand on integrating more renewables into the grid.
Gengjin Shi; Zhenlong Wu; Jian Guo; Donghai Li; Yanjun Ding. Superheated Steam Temperature Control Based on a Hybrid Active Disturbance Rejection Control. Energies 2020, 13, 1757 .
AMA StyleGengjin Shi, Zhenlong Wu, Jian Guo, Donghai Li, Yanjun Ding. Superheated Steam Temperature Control Based on a Hybrid Active Disturbance Rejection Control. Energies. 2020; 13 (7):1757.
Chicago/Turabian StyleGengjin Shi; Zhenlong Wu; Jian Guo; Donghai Li; Yanjun Ding. 2020. "Superheated Steam Temperature Control Based on a Hybrid Active Disturbance Rejection Control." Energies 13, no. 7: 1757.
As a clean energy engine, the gas turbine has many challenges in its shaft speed control such as strong nonlinearity and various external disturbances. However, conventional controllers such as proportional-integral-derivative (PID) controllers are not able to obtain satisfactory performance in disturbance rejection when the operating point is changing. To handle with the strong nonlinearity and reject possible disturbances more effectively, the linear active disturbance rejection controller (LADRC) is applied to the shaft speed control system of the gas turbine based on an experimental tuning procedure. Moreover, Skogestad Internal Model Control-PID (SIMC-PID) and fractional order PID (FOPID) are chosen as comparative controllers. Eventually, Monte Carlo trials are carried out and maximum sensitivities are calculated in order to test the robustness of controllers. Simulation results illustrate the advantages of LADRC in both reference tracking and rejections of different disturbances.
Gengjin Shi; Zhenlong Wu; Ting He; Donghai Li; Yanjun Ding; Shangming Liu. Shaft Speed Control of the Gas Turbine Based on Active Disturbance Rejection Control. IFAC-PapersOnLine 2020, 53, 12523 -12529.
AMA StyleGengjin Shi, Zhenlong Wu, Ting He, Donghai Li, Yanjun Ding, Shangming Liu. Shaft Speed Control of the Gas Turbine Based on Active Disturbance Rejection Control. IFAC-PapersOnLine. 2020; 53 (2):12523-12529.
Chicago/Turabian StyleGengjin Shi; Zhenlong Wu; Ting He; Donghai Li; Yanjun Ding; Shangming Liu. 2020. "Shaft Speed Control of the Gas Turbine Based on Active Disturbance Rejection Control." IFAC-PapersOnLine 53, no. 2: 12523-12529.
Supercritical circulating fluidized bed (CFB) is one of the prominent clean coal technologies owing to the advantages of high efficiency, fuel flexibility, and low cost of emission control. The fast and flexible load-tracking performance of the supercritical CFB boiler-turbine unit presents a promising prospect in facilitating the sustainability of the power systems. However, features such as large inertia, strong nonlinearity, and multivariable coupling make it a challenging task to harmonize the boiler’s slow dynamics with the turbine’s fast dynamics. To improve the operational flexibility of the supercritical CFB unit, a burning carbon based decentralized active disturbance rejection control is proposed. Since burning carbon in the furnace responds faster than throttle steam pressure when the fuel flow rate changes, it is utilized to compensate the dynamics of the corresponding loop. The parameters of the controllers are tuned by optimizing the weighted integrated absolute error index of each loop via genetic algorithm. Simulations of the proposed method on a 600 MW supercritical CFB unit verify the merits of load following and disturbance rejection in terms of less settling time and overshoot.
Fan Zhang; Yali Xue; Donghai Li; Zhenlong Wu; Ting He. On the Flexible Operation of Supercritical Circulating Fluidized Bed: Burning Carbon Based Decentralized Active Disturbance Rejection Control. Energies 2019, 12, 1132 .
AMA StyleFan Zhang, Yali Xue, Donghai Li, Zhenlong Wu, Ting He. On the Flexible Operation of Supercritical Circulating Fluidized Bed: Burning Carbon Based Decentralized Active Disturbance Rejection Control. Energies. 2019; 12 (6):1132.
Chicago/Turabian StyleFan Zhang; Yali Xue; Donghai Li; Zhenlong Wu; Ting He. 2019. "On the Flexible Operation of Supercritical Circulating Fluidized Bed: Burning Carbon Based Decentralized Active Disturbance Rejection Control." Energies 12, no. 6: 1132.
In order to optimize the economic objectives while regulating the ultra-supercritical boiler-turbine unit, an improved utopia tracking based multiobjective fuzzy model predictive control is proposed in this paper. This method uses a hierarchical structure, in which the quasi-infinite horizon fuzzy model predictive control is designed for the steady-state compromise point in the upper layer and the utopia tracking based multiobjective control is devised in the lower layer. To ensure the closed-loop stability, a constraint with respect to the optimal value function about the compromise point is enforced. The simulation results on a 1000MW USC boiler-turbine unit model verify the merits of the proposed strategy in achieving less fuel consumption and less throttling loss during the load regulation.
Fan Zhang; Yali Xue; Donghai Li; Jiong Shen; Xiao Wu; Zhenlong Wu; Ting He. Multiobjective Operation of Ultra-Supercritical Boiler-Turbine Unit. IFAC-PapersOnLine 2018, 51, 592 -597.
AMA StyleFan Zhang, Yali Xue, Donghai Li, Jiong Shen, Xiao Wu, Zhenlong Wu, Ting He. Multiobjective Operation of Ultra-Supercritical Boiler-Turbine Unit. IFAC-PapersOnLine. 2018; 51 (28):592-597.
Chicago/Turabian StyleFan Zhang; Yali Xue; Donghai Li; Jiong Shen; Xiao Wu; Zhenlong Wu; Ting He. 2018. "Multiobjective Operation of Ultra-Supercritical Boiler-Turbine Unit." IFAC-PapersOnLine 51, no. 28: 592-597.
The conventional direct energy balance (DEB) based PI control can fulfill the fundamental tracking requirements of the coal-fired power plant. However, it is challenging to deal with the cases when the coal quality variation is present. To this end, this paper introduces the active disturbance rejection control (ADRC) to the DEB structure, where the coal quality variation is deemed as a kind of unknown disturbance that can be estimated and mitigated promptly. Firstly, the nonlinearity of a recent power plant model is analyzed based on the gap metric, which provides guidance on how to set the pressure set-point in line with the power demand. Secondly, the approximate decoupling effect of the DEB structure is analyzed based on the relative gain analysis in frequency domain. Finally, the synthesis of the DEB based ADRC control system is carried out based on multi-objective optimization. The optimized ADRC results show that the integrated absolute error (IAE) indices of the tracking performances in both loops can be simultaneously improved, in comparison with the DEB based PI control and H control system. The regulation performance in the presence of the coal quality variation is significantly improved under the ADRC control scheme. Moreover, the robustness of the proposed strategy is shown comparable with the H control.
Li Sun; Qingsong Hua; Donghai Li; Lei Pan; Yali Xue; Kwang Y. Lee. Direct energy balance based active disturbance rejection control for coal-fired power plant. ISA Transactions 2017, 70, 486 -493.
AMA StyleLi Sun, Qingsong Hua, Donghai Li, Lei Pan, Yali Xue, Kwang Y. Lee. Direct energy balance based active disturbance rejection control for coal-fired power plant. ISA Transactions. 2017; 70 ():486-493.
Chicago/Turabian StyleLi Sun; Qingsong Hua; Donghai Li; Lei Pan; Yali Xue; Kwang Y. Lee. 2017. "Direct energy balance based active disturbance rejection control for coal-fired power plant." ISA Transactions 70, no. : 486-493.
Control of output voltage is critical for the power quality of solid oxide fuel cells (SOFCs), which is, however, challenging due to electrochemical nonlinearity, load disturbances, modelling uncertainties, and actuator constraints. Moreover, the fuel utilization rate should be limited within a safety range during the voltage regulation transient. The current research is usually appealing to model predictive control (MPC) by formulating the difficulties into a constrained optimization problem, but its huge computational complexity makes it formidable for real-time implementation in practice. To this end, this paper aims to develop a combined control structure, with basic function blocks, to fulfill the objectives with minor computation. Firstly, the disturbance, nonlinearity and uncertainties are lumped as a total disturbance, which is estimated and mitigated by active disturbance rejection controller (ADRC). Secondly, a feed-forward controller is introduced to improve the load disturbance rejection response. Finally, the constraints are satisfied by designing a cautious switching strategy. The simulation results show that the nominal performance of the proposed strategy is comparable to MPC. In the presence of parameter perturbation, the proposed strategy shows a better performance than MPC.
Li Sun; Qingsong Hua; Jiong Shen; Yali Xue; Donghai Li; Kwang Y. Lee. A Combined Voltage Control Strategy for Fuel Cell. Sustainability 2017, 9, 1517 .
AMA StyleLi Sun, Qingsong Hua, Jiong Shen, Yali Xue, Donghai Li, Kwang Y. Lee. A Combined Voltage Control Strategy for Fuel Cell. Sustainability. 2017; 9 (9):1517.
Chicago/Turabian StyleLi Sun; Qingsong Hua; Jiong Shen; Yali Xue; Donghai Li; Kwang Y. Lee. 2017. "A Combined Voltage Control Strategy for Fuel Cell." Sustainability 9, no. 9: 1517.
Control of the non-minimum phase (NMP) system is challenging, especially in the presence of modelling uncertainties and external disturbances. To this end, this paper presents a combined feedforward and model-assisted Active Disturbance Rejection Control (MADRC) strategy. Based on the nominal model, the feedforward controller is used to produce a tracking performance that has minimum settling time subject to a prescribed undershoot constraint. On the other hand, the unknown disturbances and uncertain dynamics beyond the nominal model are compensated by MADRC. Since the conventional Extended State Observer (ESO) is not suitable for the NMP system, a model-assisted ESO (MESO) is proposed based on the nominal observable canonical form. The convergence of MESO is proved in time domain. The stability, steady-state characteristics and robustness of the closed-loop system are analyzed in frequency domain. The proposed strategy has only one tuning parameter, i.e., the bandwidth of MESO, which can be readily determined with a prescribed robustness level. Some comparative examples are given to show the efficacy of the proposed method. This paper depicts a promising prospect of the model-assisted ADRC in dealing with complex systems.
Li Sun; Donghai Li; Zhiqiang Gao; Zhao Yang; Shen Zhao. Combined feedforward and model-assisted active disturbance rejection control for non-minimum phase system. ISA Transactions 2016, 64, 24 -33.
AMA StyleLi Sun, Donghai Li, Zhiqiang Gao, Zhao Yang, Shen Zhao. Combined feedforward and model-assisted active disturbance rejection control for non-minimum phase system. ISA Transactions. 2016; 64 ():24-33.
Chicago/Turabian StyleLi Sun; Donghai Li; Zhiqiang Gao; Zhao Yang; Shen Zhao. 2016. "Combined feedforward and model-assisted active disturbance rejection control for non-minimum phase system." ISA Transactions 64, no. : 24-33.
In this paper, a composite control based on Active Disturbance Rejection Control (ADRC) and Input Shaping is presented for TRMS with two degrees of freedom (DOF). The control tasks consist of accurately tracking desired trajectories and obtaining disturbance rejection in both horizontal and vertical planes. Due to un-measurable states as well as uncertainties stemming from modeling uncertainty and unknown disturbance torques, ADRC is employed, and feed-forward Input Shaping is used to improve the dynamical response. In the proposed approach, because the coupling effects are maintained in controller derivation, there is no requirement to decouple the TRMS into horizontal and vertical subsystems, which is usually performed in the literature. Finally, the proposed method is implemented on the TRMS platform, and the results are compared with those of PID and ADRC in a similar structure. The experimental results demonstrate the effectiveness of the proposed method. The operation of the controller allows for an excellent set-point tracking behavior and disturbance rejection with system nonlinearity and complex coupling conditions.
Xiaoyan Yang; Jianwei Cui; Dazhong Lao; Donghai Li; Junhui Chen. Input Shaping enhanced Active Disturbance Rejection Control for a twin rotor multi-input multi-output system (TRMS). ISA Transactions 2016, 62, 287 -298.
AMA StyleXiaoyan Yang, Jianwei Cui, Dazhong Lao, Donghai Li, Junhui Chen. Input Shaping enhanced Active Disturbance Rejection Control for a twin rotor multi-input multi-output system (TRMS). ISA Transactions. 2016; 62 ():287-298.
Chicago/Turabian StyleXiaoyan Yang; Jianwei Cui; Dazhong Lao; Donghai Li; Junhui Chen. 2016. "Input Shaping enhanced Active Disturbance Rejection Control for a twin rotor multi-input multi-output system (TRMS)." ISA Transactions 62, no. : 287-298.
The robust control problem for a class of mismatched uncertain parabolic distributed parameter systems is studied under conditions of the uncertain terms being norm-bounded. The proposed robust controller can guarantee the system states to be the uniform ultimate boundedness, and their bound can be arbitrarily small. And, the proposed control method is successfully applied to a typical diffusion-reaction process with uncertain terms.
Hai-Long Xing; Dong-Hai Li; Wen-Shan Cui. Robust control guaranteeing uniform ultimate boundedness for a class of mismatched uncertain parabolic distributed parameter systems. International Journal of Control, Automation and Systems 2013, 11, 728 -733.
AMA StyleHai-Long Xing, Dong-Hai Li, Wen-Shan Cui. Robust control guaranteeing uniform ultimate boundedness for a class of mismatched uncertain parabolic distributed parameter systems. International Journal of Control, Automation and Systems. 2013; 11 (4):728-733.
Chicago/Turabian StyleHai-Long Xing; Dong-Hai Li; Wen-Shan Cui. 2013. "Robust control guaranteeing uniform ultimate boundedness for a class of mismatched uncertain parabolic distributed parameter systems." International Journal of Control, Automation and Systems 11, no. 4: 728-733.