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大纯滞后纯积分对象的二阶自抗扰控制
引用本文:要晓梅,王庆林,韩京清.大纯滞后纯积分对象的二阶自抗扰控制[J].控制工程,2002,9(6):7-10.
作者姓名:要晓梅  王庆林  韩京清
作者单位:1. 北京理工大学,自动控制系,北京,100081
2. 中国科学院,系统科学研究所,北京,100081
基金项目:国家博士后基金资助项目
摘    要:具有纯滞后的一阶惯性关节是研究滞后问题的典型对象,采用修改后的二阶抗扰控制器ADRC(Auto-Disturbance-Rejection Controller),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糊型失配问题,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。

关 键 词:大纯滞后纯积分对象  二阶自抗扰控制  自抗扰控制器  时间尺度  鲁棒性  工业控制
文章编号:1671-7848(2002)06-0007-04
修稿时间:2001年11月28

Two-order ADRC Control for Integral Plants with Large Time Delay
YAO Xiao-mei\,WANG Qing-lin\,HAN Jing-qing\.Two-order ADRC Control for Integral Plants with Large Time Delay[J].Control Engineering of China,2002,9(6):7-10.
Authors:YAO Xiao-mei\  WANG Qing-lin\  HAN Jing-qing\
Affiliation:YAO Xiao-mei\+1,WANG Qing-lin\+1,HAN Jing-qing\+2
Abstract: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.
Keywords:Auto-Distrubance-Rejection Controller (ADRC)  integral plants with large time-delay  time-scale  robustness
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