基于PID参数整定的线性自抗扰控制参数整定
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华北电力大学

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TP273

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Tuning of Linear Active Disturbance Rejection Controllers Based on PID Tuning Rules
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North China Electric Power University

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    摘要:

    线性自抗扰控制具有固定控制结构,其设计不依赖于被控对象的数学模型,性能可以由反馈控制增益及观测器增益确定,在工业过程中具有极大的应用前景。然而,由于工业过程模型阶数的不确定性,被控对象的高频增益很难获得,因此,线性自抗扰控制器参数整定,是其在工业过程中能否应用的重要环节。鉴于实际工业控制中大都采用PID控制器,且PID控制器参数整定已经有丰富的理论与公式,因此,本文利用将PID控制器参数转化为二阶LADRC参数的方法,将现有的PID整定方法转化为二阶LADRC参数的整定方法。此方法基于一阶惯性加时延模型,LADRC参数公式为已知模型的归一化时延的函数,计算简单。对于已经掌握PID整定的工程人员,可以很容易导出相应的LADRC参数整定公式,丰富LADRC参数整定理论及方法

    Abstract:

    Linear active disturbance rejection control (LADRC) has a fixed control structure. Its design is independent of the mathematical model of the controlled system, and its performance is determined by the feedback controller gain and the observer gain, thus it has great application potential in industrial processes. However, because the order of the model of the industrial process is uncertain, the high-frequency gain of the controlled system is hard to obtain, so the tuning of the parameters of LADRC is crucial for the application in process control. Considering that PID controllers are widely used in process control and there are mature PID tuning theories and tuning rules, this paper will investigate the tuning of second-order LADRC based on existing PID tuning rules. This method is based on the first-order process with deadtime (FOPDT) model and utilizes the transformation between PID controller parameters and second-order LADRC parameters. The LADRC tuning rules are functions of the normalized delay of the FOPDT model, and the calculation is quite simple. The proposed method makes it easy for control engineers who have mastered PID tuning methods to derive the corresponding LADRC tuning rules, which will enrich the theory and method of LADRC tuning.

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历史
  • 收稿日期:2019-10-08
  • 最后修改日期:2020-12-11
  • 录用日期:2020-03-06
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