大时滞不确定过程对象参考自适应时滞补偿器——基于Popov超稳定理论的参数自适应律设计

Object reference parameter adaptive delay compensator for uncertain system with large delay:Parameter adaptive rule design based on Popov hyperstability theory

给出了大时滞不确定过程的一种新型描述方式.提出了采用一族模型拟合大时滞不确定过程的对象参考参数自适应时滞补偿器.以大时滞不确定被控过程为参考对象,给出了基于Popov超稳定理论综合自适应律的方法.自适应律使时滞补偿器的参数逐渐逼近被控过程的参数,从而克服了Smith预估补偿器对模型偏差的敏感问题,大大提高了系统的抗扰动能力.仿真结果表明,参数自适应时滞补偿器对大时滞不确定过程及复杂高阶过程均有良好的自适应跟踪及预估补偿能力.

A new description is given for uncertain processes with large delays（UPLD）. A kind of object reference adaptive delay compensator is presented. A group of models are used to simulate the UPLD. The UPLD is used as a reference model and a kind of adaptive rule based on Popov hyperstability theory and enables the parameters of the compensator to approximate those of the uncertain process. The Smith compensator＇ s sensitivity to the model difference is completely conquered and the system＇ s ability to counteract disturbance is greatly improved. Simulation results show that the object reference adaptive compensator is able to track and to compensate uncertain processes with large delays or high-order uncertain processes.