带扰动模型失配史密斯预估器的自适应控制

Adaptive control for mismatch Smith predictor with disturbance

在扰动情况下,针对传统史密斯预估器的模型失配问题,提出了一种基于模型参考自适应控制的史密斯预估器。首先,在控制对象输入端添加前馈增益矩阵和反馈补偿矩阵,和控制对象相互结合,通过调整矩阵参数,使控制对象和预估模型匹配,消除系统的模型失配误差。其次,在前向控制器输出端引入扰动补偿矩阵,调整扰动补偿矩阵的相关参数,对系统的扰动进行补偿。最后,选取合适的李雅普诺夫函数,求取自适应率。利用MATLAB中的SIMULINK模块进行仿真,仿真结果验证了方法的有效性。

Under the circumstance of the disturbance, model mismatch caused by the system, a method based on the model reference adaptive control is proposed. Firstly, feedforward gain matrix and feedback recourse matrix combining with the plant are added to the input of plant, the plant can track the original reference model through adjusting the parame-ters of matrix, and also can eliminate the error. Secondly, interference recourse matrix is added to the output of the controller.The system can overcome the influence of the disturbance through regulating the parameters of matrix. Finally, the adaptive law is obtained by Lyapunov function. The effectiveness of the proposed method has been verified by simulation results using SIMULINK.