基于改进Smith预估控制结构的二自由度PID控制

尹成强; 高洁; 孙群; 赵颖

doi:10.16383/j.aas.2018.c170596

基于改进Smith预估控制结构的二自由度PID控制

doi: 10.16383/j.aas.2018.c170596

尹成强^1, ,,
高洁^1,,
孙群^1,,
赵颖^1,

1.
聊城大学机械与汽车工程学院聊城 252059

基金项目:

国家自然科学基金 61703192

山东省重点研发计划 2016GNC112014

山东省高等学校科技计划 J15LB09

详细信息

作者简介:
高洁  聊城大学机械与汽车工程学院副教授.主要研究方向为交通控制与交通规划. E-mail: gaojie7983@163.com

孙群  聊城大学机械与汽车工程学院教授.主要研究方向为机器人技术, 测量与控制. E-mail: sunxiaoqun97@163.com

赵颖  聊城大学机械与汽车工程学院教授.主要研究方向为机器视觉, 机器人技术. E-mail: zhaoying@lcu.edu.cn

通讯作者:
尹成强聊城大学机械与汽车工程学院副教授.主要研究方向为过程控制与计算机控制.本文通信作者.E-mail: shtjycq@163.com

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出版历程
- 收稿日期: 2017-10-26
- 录用日期: 2018-03-16
- 刊出日期: 2020-07-10

Two Degree of Freedom PID Control Based on Modified Smith Predictor Control Structure

YIN Cheng-Qiang^{1
, ,},
GAO Jie^1
,,
SUN Qun^1
,,
ZHAO Ying^1
,

1.
School of Mechanical and Automobile Engineering, Liaocheng University, Liaocheng 252059

Funds:

National Natural Science Foundation of China 61703192

Shandong Province Key Technologies Research and Development Program 2016GNC112014

Science and Technology Funds of Shandong Education Department J15LB09

More Information

Author Bio:
GAO Jie   Associate professor at the School of Mechanical and Automobile Engineering, Liaocheng University. Her research interest covers traffic control and transportation planning

SUN Qun   Professor at the School of Mechanical and Automobile Engineering, Liaocheng University. His research interest covers robotics, measurement, and control

ZHAO Ying    Professor at the School of Mechanical and Automobile Engineering, Liaocheng University. Her research interest covers machine vision and robotics

Corresponding author: YIN Cheng-Qiang Associate professor at the School of Mechanical and Automobile Engineering, Liaocheng University. His research interest covers process control and computer control. Corresponding author of this paper

摘要

摘要: 针对工业过程中的二阶不稳定时滞过程, 基于改进史密斯预估控制结构提出了一种简单的两自由度控制方案.设定值跟踪控制器和扰动抑制控制器采用同一设计程序, 并基于内模控制原理提出了控制器解析设计方案.设定值跟踪控制器和抗扰动控制器可分别通过单性能参数独立调节和优化, 每个控制器都具有PID形式, 给出了控制器调整参数的选择范围和扰动抑制闭环保证鲁棒稳定性的条件.仿真实例验证了提出方法对于近期其他方法的优越性.
- 改进史密斯预估控制 /
- 二自由度 /
- 二阶不稳定过程 /
- PID控制器
Abstract: A simple two degree of freedom control scheme is proposed for second-order unstable processes with time delay based on modified Smith predictor control structure. The set point tracking controller and the disturbance rejection controller are designed with the same procedure, and analytical design method on the basis of the internal model control (IMC) design principle is adopted for the two controllers. The controller for setpoint response and the controller for disturbance can be adjusted and optimized independently, and the two controllers are designed as PID form respectively. Suitable values for the adjustable parameters of two controllers and conditions holding the closed loop robust stability are recommended. Simulation examples demonstrate the superiority of the proposed method over recent other approaches.
- Modified Smith predictor control /
- two degree of freedom /
- second-order unstable process /
- PID controller
Recommended by Associate Editor SUN Jian
注释:

1) 本文责任编委孙健

HTML全文

图 1 改进Smith控制结构

Fig. 1 Modified Smith predictor structure

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图 2 内模控制结构

Fig. 2 IMC control structure

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图 3 单位反馈控制结构

Fig. 3 Feedback control structure

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图 4 例1标称系统阶跃响应

Fig. 4 Step responses for Example 1 (normal)

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图 5 例1标称系统控制响应

Fig. 5 Control signals for Example 1 (normal)

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图 6 例1扰动系统阶跃响应

Fig. 6 Step responses for Example 1 (perturbed)

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图 7 例1扰动系统控制响应

Fig. 7 Control signals for Example 1 (perturbed)

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图 8 例2标称系统阶跃响应

Fig. 8 Step responses for Example 2 (normal)

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图 9 例2扰动系统阶跃响应

Fig. 9 Step responses for Example 2 (perturbed)

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图 10 例3标称系统阶跃响应

Fig. 10 Step responses for Example 3 (normal)

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图 11 例3标称系统控制响应

Fig. 11 Control signals for Example 3 (normal)

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图 12 例3扰动系统阶跃响应

Fig. 12 Step responses for Example 3 (perturbed)

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图 13 例3扰动系统控制响应

Fig. 13 Control signals for Example 3 (perturbed)

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图 14 例1~3本文方法灵敏度函数幅值

Fig. 14 Magnitude plots of the proposed sensitivity function for Examples 1~3

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表 1 例1的性能指标

Table 1 Performance measures for Example 1

方法	${IAE}$	${ITAE}$	${OV}$	$PV$
标称响应
本文方法	1.40	2.58	1.00	1.0091
Kumar方法^[32]	1.41	3.13	1.05	1.1042
Ghousiya方法^[33]	1.52	3.14	1.01	1.0226
扰动响应
本文方法	1.75	7.75	1.02	1.4168
Kumar方法^[32]	3.01	31.09	1.05	1.9253
Ghousiya方法^[33]	2.90	27.29	1.08	6.2813

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表 2 例2的性能指标

Table 2 Performance measures for Example 2

方法	${IAE}$	${ITAE}$	${OV}$	$PV$
标称响应
本文方法	3.57	10.94	1.00	1.0144
Ajmerin方法^[25]	3.71	12.15	1.00	1.0083
Wang方法^[28]	3.75	12.51	1.00	1.0052
扰动响应
本文方法	4.37	36.80	1.01	1.590
Ajmerin方法^[25]	4.67	41.29	1.01	1.535
Wang方法^[28]	4.70	44.70	1.00	1.381

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表 3 例3的性能指标

Table 3 Performance measures for Example 3

方法	${IAE}$	${ITAE}$	${OV}$	$PV$
标称响应
本文方法	1.71	3.47	1.00	1.0121
Ajmerin方法^[25]	1.23	2.13	1.01	1.0230
Vanavil方法^[34]	1.75	3.88	1.00	1.0034
扰动响应
本文方法	2.04	11.82	1.02	1.4628
Ajmerin方法^[25]	1.70	13.36	1.04	1.5220
Vanavil方法^[34]	2.51	24.77	1.02	1.6185

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基于改进Smith预估控制结构的二自由度PID控制

doi: 10.16383/j.aas.2018.c170596

通讯作者:
尹成强聊城大学机械与汽车工程学院副教授.主要研究方向为过程控制与计算机控制.本文通信作者.E-mail: shtjycq@163.com

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Two Degree of Freedom PID Control Based on Modified Smith Predictor Control Structure

Corresponding author: YIN Cheng-Qiang Associate professor at the School of Mechanical and Automobile Engineering, Liaocheng University. His research interest covers process control and computer control. Corresponding author of this paper

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基于改进Smith预估控制结构的二自由度PID控制

doi: 10.16383/j.aas.2018.c170596

通讯作者: 尹成强 聊城大学机械与汽车工程学院副教授.主要研究方向为过程控制与计算机控制.本文通信作者.E-mail: shtjycq@163.com

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出版历程

Two Degree of Freedom PID Control Based on Modified Smith Predictor Control Structure

Corresponding author: YIN Cheng-Qiang Associate professor at the School of Mechanical and Automobile Engineering, Liaocheng University. His research interest covers process control and computer control. Corresponding author of this paper

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出版历程

目录

通讯作者:
尹成强聊城大学机械与汽车工程学院副教授.主要研究方向为过程控制与计算机控制.本文通信作者.E-mail: shtjycq@163.com