球磨机制粉系统的线性自抗扰控制

Linear active disturbance rejection control for ball mill coal-pulverizing systems

球磨机制粉系统具有大惯性、大时滞和强耦合等特点,很难建立精确的数学模型.本文分析了球磨机制粉系统的动态特性,并为其设计分散线性自抗扰控制方案.该方案综合分散控制和线性自抗扰控制器的优点,结构简单,不依赖于对象精确模型,可以对被控对象中存在的耦合、干扰和不确定性等进行估计并补偿.根据实际现场要求,对球磨机制粉系统进行设定值跟踪实验、输入扰动实验和性能鲁棒性实验,并比较所设计方案与PID方案的控制性能.结果表明,分散线性自抗扰控制具有更强的解耦能力和抗干扰能力,且性能鲁棒性更优.

The ball mill coal-pulverizing （BMCP） system is a multivariable coupled system with long time-delay, large inertia and parameter uncertainties. This paper analyzes the dynamic characteristics of the BMCP system and proposes a control strategy based on a decentralized linear active disturbance rejection controller （LADRC）. The proposed control strategy has simple structure, strong disturbance rejection ability, and is independent of accurate mathematical, models. When it is applied to the BMCP system, parameter uncertainties, disturbances and coupling in the BMCP system can be estimated and actively compensated. Based on industrial control requirements, set point tracking simulation, perturbation simulation and random Monte-Carlo experiment are carried out. In comparison with a PID controller, the LADRC achieves better control results and has a stronger robustness.