Projektovanje i realizacija upravljačkih sistema sa aktivnim potiskivanjem poremećaja
Author
Stanković, Momir R.Mentor
Naumović, MilicaCommittee members
Šekara, TomislavJovanović, Zoran
Petrović, Branislav
Simić, Slobodan
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Show full item recordAbstract
Active Disturbance Rejection Control (ADRC) is a recently proposed
concept, which features high control performances and the minimal
dependence on knowledge of the process model. Hence, ADRC
represents a suitable solution for the industrial control applications,
where the precise mathematical modeling of the process is limited.
This dissertation deals with the design and realization of the ADRC
controllers. The contribution of the research is reflected in the
proposed modifications of the existing ADRC structures, which
enable more efficient sinusoidal disturbances rejection and the
sinusoidal reference tracking. The high performances and the
robustness of the developed algorithms are demonstrated through the
frequency domain analysis. Further, the optimal controller parameters
tuning method, which is based on the genetic algorithm, is proposed.
Compared to the conventional parameter tuning, it has been shown
that the optimally tuned system, for the same robustness and no...ise
sensitivity indexes, provides significantly better performances in
terms of the external disturbance rejection and the reference tracking.
The practical realization of the control systems, using Field
Programmable Gate Array (FPGA) hardware, is analyzed. In this
context, the features of the modern FPGA chips are considered and a
detailed methodology for the control algorithm implementation, by
the graphical system-level software tools, is suggested. In this way,
the practical realization of the control system and the selection of the
optimal hardware structure, as a tradeoff between the system
performances and resource occupancy, are simplified. Consequently,
the proposed methodology contributes to reducing the gap between
FPGA technology and the control system designers.
The developed control system solutions are experimentally tested in
the laboratory environment on the three-axis didactic radar platform.
The obtained results of the axes tracking performances confirm the
efficiency of the proposed control algorithm and its FPGA realization.