时变大滞后系统的自适应灰色预测PID控制

Adaptive grey prediction PID control for time-variable large delay system

为对时变大滞后系统实现快速有效的实时控制,将二次型性能指标引入到 PID 控制器的整定过程中,按照性能指标的负梯度方向修改加权系数,实现了自适应 PID 的最优控制律, 并进行了稳定性分析。同时将自适应 PID 与灰色预测器相结合, 用预测结果代替被控对象测量值, 克服了大滞后系统控制效果不能及时反馈的不足,实现了“事先调节”。仿真结果表明,对时变的大滞后系统具有很强的适应性和鲁棒性。

A real-time control method is developed for time-variable delay system. The quadratic index is introduced in order to realize the optimal control of adaptive PID controller.It modifies weight coefficient by anti-gradient direction of the performance figures.Predominant value substitutes measured value after combining adaptive PID controller with grey prediction controller, with the consequence of the control signal delay is minimized. Simulation verifies that the controller possesses excellent adaptability and robustness and all kinds of control performances are improved.