时滞对象的自抗扰PID控制  

Auto disturbance rejection PID controller for time-delay systems

作　　者：曾河华[1] 李东海[1] 姜学智[1] 闪文晓[1] 薛亚丽[1] 

机构地区：[1]清华大学热能工程系热科学与动力工程教育部重点实验室,北京100084

出　　处：《清华大学学报（自然科学版）》2007年第11期2018-2021,共4页Journal of Tsinghua University(Science and Technology)

基　　金：国家自然科学基金资助项目(50376029)

摘　　要：提出一种适合时滞对象的自抗扰PID控制器及其整定方法。由于难以完全测得时滞对象输出变量的高阶导数,用一个二阶观测器观测系统中模型和外部干扰等未知因素,然后结合经典反馈理论,得到一个四参数的自抗扰PID控制器。由Z-N整定公式推导出其中3个控制器参数的整定公式,适当调节剩余自由参数,可以获得较好的动态性能。2个仿真实验表明:该方法能够有效改善时滞对象控制系统的动态性能,增强系统的适应性和鲁棒性。This paper presents an auto disturbance rejection PID controller and a parameter tuning method for time-delay systems to improve conventional PID controller performance. The model uses a two-order observer to compensate for the dynamics of unknown factors in the model and disturbances due to the difficulties in measuring higher-order differentials of time-delay system outputs. The auto disturbance rejection PID controller had four free parameters obtained using classical feedback theories, with three of the parameters derived from the Z-N tuning rule and the last free parameter chosen to ensure satisfactory dynamic performance. Simulations demonstrate that the controller provides excellent dynamic performance, adaptability, and robustness for time delay systems.

关 键 词：自抗扰PID控制器 时滞 Z—N整定公式 鲁棒性 

分 类 号：TP214[自动化与计算机技术—检测技术与自动化装置]