摘要
A composite control scheme consisting of modepredictive control （MPC） and disturbance observer （DOB） iproposed to solve the control performance degradationproblem of the turbidity of the treated water in the presence osignificant changes in raw water quality, water flow rate andinternal model mismatch disturbances. The MPC is employedas a feedback controller for the coagulation process with alarge time delay. The DOB is adopted to estimate the severedisturbances in the turbidity control, such as large changes inraw water quality and water flow rate. The estimated valuesare applied for feed-forward compensation to rejecdisturbances. Finally, the disturbance rejection performancesfor step disturbances and time-varying disturbances in thenominal case and model mismatch case are tested. Thesimulation results illustrate that, compared with the MPCmethod, the proposed method can significantly improve thedisturbance rejection performance in the turbidity control othe treated water, no matter if in the presence of externadisturbances or internal model mismatch disturbances.
为了解决源水水质变化、流量变化等外部干扰以及模型不匹配等内部干扰造成滤后水浊度控制性能变差的问题,提出一种基于模型预测控制和扰动观测器的复合控制方法.采用模型预测控制方法对带有大时延的混凝投加过程进行反馈控制,再结合扰动观测器对浊度控制中的源水水质变化、流量变化等扰动进行估计,将估计出的扰动用于前馈补偿来抑制扰动.最后用所提控制方法在标称情况和模型不匹配情况下对阶跃扰动和时变扰动的抗扰动性能进行测试.仿真结果表明,相比较单一的模型预测控制方法,所提复合控制方法能够显著提高滤后水浊度控制中对于外部扰动以及内部模型不匹配扰动的抑制能力.
基金
The National Natural Science Foundation of China(No.61504027)
the Natural Science Foundation of Jiangsu Province(No.BK20140647)
the Priority Academic Program Development of Jiangsu Higher Education Institutions
