On control design and tuning for first order plus time delay plants with significant uncertainties

Lijun Wang, Qing Li, Chao-nan Tong, Yixin Yin, Zhiqiang Gao, Qinling Zheng, Weicun Zhang
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引用次数: 20

Abstract

A novel active disturbance rejection control (ADRC) solution and a particular tuning method are presented for a class of time delay system (TDS) with uncertainty. First, the complicated process dynamics is modeled as a simple first order plus large time delay (FOPTD) plant, with the difference between the actual dynamics and its model treated as disturbances to be rejected. Then the reduced order linear extended state observer (RLESO) with input delay is proposed to estimate the time delay state and disturbance. It is shown how the time delay could be eliminated from the characteristic equation of the closed-loop system by manipulations of controller parameters. Secondly, the one parameter tuning (OPT) technique is developed where all controller parameters are made function of a single coefficient. In comparison with optimal proportional-integral-derivative (PID) controller and twice optimum controller (TOC), the simulation results show that the proposed method not only has better accuracy and faster response, but also ensures better robustness and adaptability against uncertain model parameters and external disturbances, especially for the plant with very large time delays.
具有显著不确定性的一阶加时滞对象的控制设计与整定
针对一类不确定时滞系统,提出了一种新的自抗扰控制方法和一种特殊的自整定方法。首先,将复杂的过程动力学建模为一个简单的一阶加大时滞(FOPTD)对象,将实际动力学与其模型之间的差异作为干扰进行抑制。然后提出了带输入延迟的降阶线性扩展状态观测器(RLESO)来估计时滞状态和扰动。通过对控制器参数的处理,可以消除闭环系统特征方程中的时滞。其次,提出了单参数整定(OPT)技术,其中所有控制器参数都是单个系数的函数。仿真结果表明,与最优比例-积分-导数(PID)控制器和二次最优控制器(TOC)相比,该方法不仅具有更好的精度和更快的响应速度,而且具有更好的鲁棒性和对不确定模型参数和外部干扰的适应性,特别是对于具有非常大时滞的对象。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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