大纯滞后纯积分对象的二阶自抗扰控制

Two-order ADRC Control for Integral Plants with Large Time Delay

具有纯滞后的一阶惯性环节是研究滞后问题的典型对象。采用修改后的二阶自抗扰控制器ADRC(Auto Disturbance RejectionController) ,研究了大纯滞后纯积分对象的控制。仿真表明 ,二阶ADRC能有效控制该类对象 ,并表现出较强的鲁棒性和抗扰性 ,而且在一定程度上不存在所谓的模型失配问题。此外 ,给出了滞后时间从 0开始不断增加的控制器参数调整表和基于时间尺度的控制器参数调整依据 ,具有一定的工程实用价值。

Inertial first-order systems are typically object of as time-delay systems, it is obvious that integral plants with large time-delay are even more difficult to control, which is the problem this article deals with using a modified two-order ADRC(Auto-Disturbance-Rejection Controller). Simulation results show that not only ADRC can effectively control such plants, and exhibit excellent robustness, disturbance-rejection ability, but there exist no model unmatched problems in a certain degree. In addition, the article gives a table showing the regular pattern the change of the parameters of the controller with the increase in time-delay from 0 to a large one, and a parameter-adjustment rule based on the concept of time-scale, which are of much value when ADRC is put into practical use.