变参数FOPDT型系统的强鲁棒自适应PI控制器设计

针对基于非线性模型控制器设计困难的问题,将非线性系统用变参数形式的一阶惯性加延迟(FOPDT)模型描述,并进行控制器设计,从而简化控制器的设计过程并提高控制性能.采用一种新型的自适应比例积分(PI)控制器结构,通过增益参数切换和积分复位实现高精度的设定点跟踪和扰动抑制性能.仿真及实验结果表明:文中方法使系统控制精度提高10倍,达到0.01°;超调量有所减少;模型变化时,阶跃响应和干扰抑制效果仍佳;与传统的PI方法比较,文中方法具有良好的动态、稳态响应性能和鲁棒性.

Strong Robust Adaptive PI Controller Design of Parameter Varying FOPDT System

Since the difficulties exit in designing controller for nonlinear models, the article describes first order plus dead-time(FOPDT)model with parameter varying for nonlinear systems, and proposes to design controller based on it, which simplifies controller designing processes and improves system performance. It is worthy to be mentioned that the article describes a special structure of adaptive proportional integral(PI)control, in which the set-point tracking with high accuracy and disturbance rejection performance are guaranteed by the forward gain switching and integrator reset. The simulation and experimental studies demonstrate that the accuracy of the system is improved to 10 times than before, reaching to 0.01°, that the overshoot is decreased, that the results of step response and disturbance rejection are still well when the system model is changed, and that compared with the traditional PI regulator, the proposed method has good dynamic, steady state performance and robustness.