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Active Disturbance Rejection Based Pinpoint Control for Small and Medium-sized Sluice Gate in Water Conservancy Systems

机译：水利工程中小型水闸基于主动扰动抑制的精确控制

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摘要

In this paper, an active disturbance rejection based pinpoint control scheme is proposed to solve the pinpoint control problem for small and medium-sized sluice gates in water conservancy systems. Firstly, the pinpoint control problem is transformed into a reference trajectory tracking problem by constructing a reasonable auxiliary curve. Secondly, an linear extended state observer is designed to estimate and compensate the totoal disturbance in the sluice gate system. Finally, the controller is designed based on Lyapunov approach, and the robust control is used to deal with the estimation error of the extended observer, such that the system output can track the specified position accurately. The simulation results show the effectiveness of the proposed algorithm.
机译：为了解决水利系统中小型闸门的精确控制问题，提出了一种基于主动抗扰度的精确控制方案。首先，通过构造合理的辅助曲线将精确控制问题转化为参考轨迹跟踪问题。其次，设计了线性扩展状态观测器，以估算和补偿水闸系统中的总扰动。最后，基于李雅普诺夫方法设计了控制器，并采用鲁棒控制来处理扩展观测器的估计误差，从而使系统输出可以准确地跟踪指定位置。仿真结果表明了该算法的有效性。

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