基于Smith预估的自抗扰控制系统

An Active Disturbance Rejection Control System Based on Smith Predictor

纯滞后对象一直是自动控制和计算机应用领域的一大难题。常用的PID与Smith预估相结合的方法,在预估不准确的情况下,不能取得较好的控制效果;而单一的自抗扰控制器在滞后时间较大的情况下,调节时间较长。针对大滞后对象提出了自抗扰控制器与Smith预估补偿器相结合的设计方案。通过仿真对比PID配合Smith预估补偿器及单一的自抗扰控制器的控制效果,表明自抗扰控制器与Smith预估补偿器的结合有效地改善了大滞后对象的控制效果,增强了系统的鲁棒性和抗干扰能力。

The control of controllable object with large delay- time is a problem in the field of automatic control and application of computer. PID controller with Smith Predictor can not get good control effect when the prediction value is not suitable. And single ADRC＇ s setting time is too long, when the delay - time is long. This paper proposes a design scheme of an ADRC controller integrated with Smith Predictor for the large delay - time plant. It compares the performance of this controller with the PID controller based on Smith Predictor and the single ADRC controller through simulation. The simulation results indicate that the ADRC controller with Smith Predictor has better control effect than the others dealing with a large delay - time plant and can improve system＇ s robustness and the ability of disturbance rejection.