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Contents

Contents

Chapter 1Introduction1

1.1Background and Significance1

1.2Stateª²ofª²theª²Art3

1.2.1Progress of Thermal Process Control3

1.2.2Uncertainty£º Core of Automatic Control4

1.2.3Classical 2ª²DOF Control Structure6

1.2.4Disturbance Observer Based Control7

1.2.5ESO Based 2ª²DOF Control Structure£º Active

Disturbance Rejection Control9

1.2.6Uncertainty and Disturbance Estimator Based

2ª²DOF Control11

1.3Characteristics of Modern 2ª²DOF Control12

1.4Research Content and Technical Route13

Chapter 2Theoretical Research of Singleª²Loop 2ª²DOF Control16

2.1Optimal Disturbance Rejection Based PI Tuning of

Timeª²Delay Process16

2.1.1Background16

2.1.2Problem Formulation17

2.1.3A New Robustness Metric£º Relative

Delay Margin19

2.1.4Parameter Transformation and Stable Region

of PI Controller19

2.1.5Solution of the Stable Region of PI Controller21

2.1.6Timeª²Delay Robustness Constrained

Optimization24

2.1.7Simulation Examples27

2.2Improved Firstª²Order ADRC Design and Quantitative

Tuning for Timeª²Delay Process28

2.2.1Timeª²Delay ADRC Structure28

2.2.2Analysis and Tuning of Compensated Plant29

2.2.3Desired Dynamics Based Tuning31

2.2.4Simulation Examples32

2.3UDE Based Control and Quantitative Tuning of

Timeª²Delay Process35

2.3.1Improved UDE Based Control for Timeª²Delay

Process35

2.3.2Stability Analysis Based on FOPDT Process37

2.3.3Characteristics Analysis and Parameter Tuning

Based on FOPDT39

2.3.4Simulation Examples40

2.4Improved ESO Based 2ª²DOF Control for Nonª²Minimum

Phase System44

2.4.1Model Information Based Design of Improved

ESO45

2.4.2Undershoot Constrained Optimal Feedforward

Design46

2.4.3Convergence and Parameter Tuning47

2.4.4Simulation Examples48

2.5Chapter Summary50

Chapter 3Basic Research for Application of Active Disturbance

Rejection Control52

3.1Mathematical Description of Firstª²Order ADRC53

3.2Engineering Realization of Firstª²Order ADRC54

3.3Autoª²Tuning and Retuning of Parameters56

3.4Discretization and Stability of ESO58

3.5Water Tank Test59

3.5.1Experimental Setup59

3.5.2Preliminary Test of Firstª²Order ADRC

Control Logics59

3.5.3Verification of Autoª²Tuning and Retuning of

Firstª²Order ADRC61

3.5.4Experimental Research of Parameter Tuning

of Timeª²Delay ADRC63

3.6Chapter Summary66

Chapter 4Field Test Research of ADRC in Singleª²Loop

Thermal Process67

4.1Condensed Waterª²Level Control of An Ultraª²Supercritical

Power Plant67

4.1.1Process Description67

4.1.2Process Identification and Control Simulation68

4.1.3Field Test71

4.2The Air Temperature Control System of Coal Mill

Outlet of A Subcritical Unit73

4.2.1Process Description73

4.2.2Process Identification and Control Simulation

of TDª²ADRC74

4.2.3Field Test76

4.3Chapter Summary79

Chapter 5Simulation of 2ª²DOF Control in Multivariable

Thermal Process80

5.1DOB Based Control for Fluidized Bed Combustor80

5.1.1Process Description80

5.1.2Decoupling Analysis of DOB82

5.1.3Simulation Examples86

5.2Direct Energy Balance Based ADRC Coordinated

Control for Power Plant87

5.2.1Process Description87

5.2.2DEB Oriented Nonlinear Modelling90

5.2.3Model Simplification92

5.2.4Parameter Identification and Verification94

5.2.5Decoupling Analysis of DEB Control Structure98

5.2.6Multiª²Objective Optimization of DEBª²ADRC

Coordinated Control103

5.3Chapter Summary108

Chapter 6Conclusion and Outlook109

6.1Book Summary109

6.2Further Work110

Appendix£º Proof of Theorems112

References120

Publications130

Acknowledgements132