General error-based active disturbance rejection control for swift industrial implementations

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 article 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 FOPTD 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.

Quantitative Tuning of Active Disturbance Rejection Controller for FOPTD Model With Application to Power Plant Control

Robust model predictive control and PID control of shell-and-tube heat exchangers

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 article 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 FOPTD 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. 

This paper concentrates on the possibilities of the application of the virtual commissioning procedure for the design and verification of the control systems for the continuous industrial processes After short review and defining the motivation and recognizing the bottlenecks, the case study is presented It is based on the laboratory pneumatic setup representing the nonlinear continuous process of the higher relative degree The stages of its modeling are presented and the potential possibilities of the application of the virtual commissioning for its control are discussed, based on the practical results

Virtual commissioning for the control of the continuous industrial processes — Case study

Simplified dynamical input–output modeling of plate heat exchangers – case study

Robust tuning of a first order reduced Active Disturbance Rejection Controller

Practical validation of the effective control of liquid-liquid heat exchangers by distributed parameter balance-based adaptive controller

In this paper, the PLC-based (Programmable Logic Controller) industrial implementation in the form of the general-purpose function block for ADRC (Active Disturbance Rejection Controller) is presented. The details of practical aspects are discussed because their reliable implementation is not trivial for higher order ADRC. Additional important novelties discussed in the paper are the impact of the derivative backoff and the method that signiﬁcantly simpliﬁes tuning of higher order ADRC by avoiding the usual trial and error procedure. The results of the practical validation of the suggested concepts complete the paper and show the potential industrial applicability of ADRC.

Pawel Nowak

Papers

Virtual commissioning for the control of the continuous industrial processes — Case study

Simplified dynamical input–output modeling of plate heat exchangers – case study

Robust tuning of a first order reduced Active Disturbance Rejection Controller

Practical validation of the effective control of liquid-liquid heat exchangers by distributed parameter balance-based adaptive controller

Flexible function block for industrial applications of active disturbance rejection controller