基于定量反馈理论的时滞系统自抗扰控制参数整定  

Tuning of active disturbance rejection control for time-delay systems via quantitative feedback theory

作　　者：赵天烽 程赟 华亮[1] 李海 陈增强 ZHAO Tian-feng;CHENG Yun;HUA Liang;LI Hai;CHEN Zeng-qiang(School of Electrical Engineering,Nantong Universit,Nantong Jiangsu 226019,China;Nantong Cellulose Fibers Co.Ltd.,Nantong Jiangsu 226008,China;College of Artificial Intelligence,Nankai Universit,Tianjin 300350,China)

机构地区：[1]南通大学电气工程学院,江苏南通226019 [2]南通市醋酸纤维有限公司,江苏南通226008 [3]南开大学人工智能学院,天津300350

出　　处：《控制理论与应用》2021年第5期578-586,共9页Control Theory & Applications

基　　金：国家自然科学基金项目(61973175);江苏省六大人才高峰项目(XNY–039);江苏省高等学校自然科学研究重大项目(19KJA350002);南通市基础科学研究项目(JC2020151)资助

摘　　要：工业过程对象普遍存在时滞、模型参数不确定性和外部扰动多等特点,传统Smith预估控制方法难以设计出满足期望性能的鲁棒控制器.针对模型参数不确定性和外部扰动,本文采用自抗扰控制技术进行估计和补偿.针对系统存在时滞的特点,本文提出改进Smith预估器结构,提升扩张状态观测器对于扰动估计的实时性.在此基础上,本文以一阶时滞系统为例提出了控制器参数整定方法.首先根据最优参数选取准则确定预估器模型,然后在等效模型框架下采用定量反馈理论整定自抗扰控制器参数,确保控制系统达到预期性能指标.在仿真实验中,将所提出方法与几种常见时滞系统控制方法进行比较,通过设定值跟踪、抗扰及蒙特卡罗实验验证了所提出方法具有良好抗扰能力与鲁棒性.Industrial process generally involves the characteristics of time-delay, parameter uncertainties and external disturbances. It is difficult for traditional control methods with smith predictor to design a robust controller that satisfies the desired performance. For parameter uncertainties and external disturbances, an active disturbance rejection control strategy is used to estimate and compensate the disturbances. For the characteristics of time-delay, a modified smith predictor, which can improve the real-time performance of extended state observer for disturbance estimation, is proposed in this paper. On this basis, a controller parameter tuning method for the first-order time-delay system is proposed. Firstly, the model of the predictor is determined according to the optimal parameter selection criteria. Then, in the framework of equivalent model,the parameters of the active disturbance rejection controller are tuned by quantitative feedback theory in order to achieve the expected performance index. In the simulation experiments, the proposed method is compared with several traditional control methods for time-delay systems. The proposed method has better disturbance rejection performance and robustness in the set point tracking, disturbance rejection and Monte Carlo experiments.

关 键 词：时滞系统 自抗扰控制 改进Smith预估器 定量反馈理论 参数整定 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]