基于改进Smith预估补偿及自适应Fuzzy-PID控制的NCS研究

Study on the improved Smith predictor combined with the adaptive Fuzzy-PID controller of the NCS

在具有网络时延和被控对象自身时延的网络控制系统中,针对传统Smith预估补偿器需要被控对象的精确数学模型,对传统Smith预估补偿器进行改进,提出在预估器主反馈通道上加入一阶惯性滤波环节,用于解决被控对象与预估器模型参数失配问题。同时引入自适应Fuzzy-PID控制器作为系统控制策略,设计了系统结构并进行了仿真研究。仿真结果表明改进后的系统能获得更好的动态性能和适应性能。

Traditional Smith predictor must be supported by the precise mathematical model of controlled object in the networked control system with delay of network and controlled object. In order to remedy the deficiency, the traditional Smith predictor was improved by adding a first-order inertial filter in the feedback channel of predictor to solve the issue of parameter mismatch in the controlled object and the predictor. Adaptive Fuzzy-PID controller was used as the system controller. As the simulation results showed, the improved controller possesses good dynamic performance and adaptability.