PDF《一阶惯性大时滞系统 Smith 预估自抗扰控制》

DOI: 10.

11992/tis.201705031 网络出版地址: http://kns.cnki.net/kcms/detail/23.1538.TP.20180328.1811.016.html 一阶惯性大时滞系统 Smith 预估自抗扰控制 王永帅1 ,陈增强1,2 ,孙明玮1 ,孙青林1 (1. 南开大学 计算机与控制工程学院,天津 300350;

2. 天津市智能机器人重点实验室,天津 300350) 摘要:大时滞系统是工业过程控制中的典型难题,将先进控制方法应用于大时滞系统时需要与传统的 Smith 预估器相结合才能获得理想的控制效果.针对一阶惯性大时滞系统,研究了 Smith 预估器与线性自抗扰 控制技术相结合的设计问题,分析了系统的稳定条件和参数摄动问题.证明了当被控对象参数与 Smith 预估 器参数相同时,闭环控制系统稳定的结论,同时推导了参数不同时控制系统稳定的一个充分条件.另外基于数 值仿真,从暂态性能、稳定裕度和抗扰能力三方面分析了系统参数和控制参数摄动的影响作用,这些结果可用 于Smith 预估器和线性自抗扰控制器参数的整定. 关键词:大时滞系统;

一阶惯性系统;

线性自抗扰控制;

Smith预估器;

稳定裕度;

劳斯判据;

稳定性分析;

稳定可行域 中图分类号:TP272 文献标志码:A 文章编号:1673?4785(2018)04?0500?09 中文引用格式:王永帅, 陈增强, 孙明玮, 等. 一阶惯性大时滞系统 Smith 预估自抗扰控制[J]. 智能系统学报, 2018, 13(4): 500C508. 英文引用格式:WANG Yongshuai, CHEN Zengqiang, SUN Mingwei, et al. Smith prediction and active disturbance rejection con- trol for first-order inertial systems with long time-delay[J]. CAAI transactions on intelligent systems, 2018, 13(4): 500C508. Smith prediction and active disturbance rejection control for first-order in- ertial systems with long time-delay WANG Yongshuai1 ,CHEN Zengqiang1,2 ,SUN Mingwei1 ,SUN Qinglin1 (1. College of Computer and Control Engineering, Nankai University, Tianjin 300350, China;

2. Key Laboratory of Intelligent Robot- ics of Tianjin, Tianjin 300350, China) Abstract: A system with long time-delay is a typical difficulty experienced in industrial process control. When an ad- vanced control method is applied to such a system, an ideal control effect can be obtained only by combining it with a traditional Smith predictor. In this paper, we address first-order inertial systems with long time-delay, investigate the combined design of a Smith predictor with the linear active disturbance rejection control (LADRC) technique, and dis- cuss the system stability conditions and parameter perturbations. We prove that the closed-loop control system is stable when the parameters of the controlled object are identical to the Smith predictor parameters. Moreover, we deduce a suf- ficient condition for maintaining the stability of the control system when these parameters differ. In addition, using nu- merical simulation, we analyze the impacts of perturbation of the system and control parameters on the transient per- formance, stability margin, and disturbance rejection ability. These results can be used to tune the parameters of the Smith predictor and LADRC controller. Keywords: systems with long time-delay;

first-order inertial systems;

LADRC;

Smith predictor;

stability margin;

Routh criterion;

stability analysis;

stable region 时滞系统广泛存在于现代过程控制工业中, 例如冶金、化工、炼油等工业.一般认为纯迟延 时间 与过程的时间常数 T 之比大于 0.3 则说明该 收稿日期:2017?05?27. 网络出版日期:2018?03?29. 基金项目:国家自然科学基金项目 (61573199,61573197);