Contents
Chapter 1Introduction1
1.1Background and Significance1
1.2StateoftheArt3
1.2.1Progress of Thermal Process Control3
1.2.2Uncertainty： Core of Automatic Control4
1.2.3Classical 2DOF Control Structure6
1.2.4Disturbance Observer Based Control7
1.2.5ESO Based 2DOF Control Structure： Active
Disturbance Rejection Control9
1.2.6Uncertainty and Disturbance Estimator Based
2DOF Control11
1.3Characteristics of Modern 2DOF Control12
1.4Research Content and Technical Route13
Chapter 2Theoretical Research of SingleLoop 2DOF Control16
2.1Optimal Disturbance Rejection Based PI Tuning of
TimeDelay Process16
2.1.1Background16
2.1.2Problem Formulation17
2.1.3A New Robustness Metric： Relative
Delay Margin19
2.1.4Parameter Transformation and Stable Region
of PI Controller19
2.1.5Solution of the Stable Region of PI Controller21
2.1.6TimeDelay Robustness Constrained
Optimization24
2.1.7Simulation Examples27
2.2Improved FirstOrder ADRC Design and Quantitative
Tuning for TimeDelay Process28
2.2.1TimeDelay 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
TimeDelay Process35
2.3.1Improved UDE Based Control for TimeDelay
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 2DOF Control for NonMinimum
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 FirstOrder ADRC53
3.2Engineering Realization of FirstOrder ADRC54
3.3AutoTuning and Retuning of Parameters56
3.4Discretization and Stability of ESO58
3.5Water Tank Test59
3.5.1Experimental Setup59
3.5.2Preliminary Test of FirstOrder ADRC
Control Logics59
3.5.3Verification of AutoTuning and Retuning of
FirstOrder ADRC61
3.5.4Experimental Research of Parameter Tuning
of TimeDelay ADRC63
3.6Chapter Summary66
Chapter 4Field Test Research of ADRC in SingleLoop
Thermal Process67
4.1Condensed WaterLevel Control of An UltraSupercritical
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 TDADRC74
4.2.3Field Test76
4.3Chapter Summary79
Chapter 5Simulation of 2DOF 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
5.2.6MultiObjective Optimization of DEBADRC
Coordinated Control103
5.3Chapter Summary108
Chapter 6Conclusion and Outlook109
6.1Book Summary109
6.2Further Work110
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