[1]邵辉,胡伟石,洪雪梅,等.变参数FOPDT型系统的强鲁棒自适应PI控制器设计[J].华侨大学学报(自然科学版),2017,38(1):96-100.[doi:10.11830/ISSN.1000-5013.201701018]
　SHAO Hui,HU Weishi,HONG Xuemei,et al.Strong Robust Adaptive PI Controller Design of Parameter Varying FOPDT System[J].Journal of Huaqiao University(Natural Science),2017,38(1):96-100.[doi:10.11830/ISSN.1000-5013.201701018]
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变参数FOPDT型系统的强鲁棒自适应PI控制器设计()
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《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第38卷
期数:
2017年第1期
页码:
96-100
栏目:
出版日期:
2017-01-09

文章信息/Info

Title:
Strong Robust Adaptive PI Controller Design of Parameter Varying FOPDT System
文章编号:
1000-5013(2017)01-0096-05
作者:
邵辉1;  胡伟石2;  洪雪梅1;  罗继亮1
1. 华侨大学 信息科学与工程学院, 福建 厦门 361021;2. 华侨大学 实验室与设备管理处, 福建 厦门 361021
Author(s):
SHAO Hui1;  HU Weishi2;  HONG Xuemei1;  LUO Jiliang1
1. College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China; 2. Laboratory and Equipment Management Department, Huaqiao University, Xiamen 361021, China
关键词:
变参数一阶惯性加延迟模型;  自适应比例积分;  前项增益切换;  积分复位
Keywords:
first order plus dead-time model with parameter varying;  adaptive proportional integral;  forward gain switching;  integrator reset
分类号:
TP27
DOI:
10.11830/ISSN.1000-5013.201701018
文献标志码:
A
摘要:
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.
Abstract:
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.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2016-09-07
通信作者: 邵辉(1973-),女,副教授,博士,主要从事机器人控制、运动规划、智能控制、非线性系统建模与控制的研究.E-mail:shaohuihull@163.com.
基金项目: 福建省科技计划项目(2015H0026); 第48批留学回国人员科研启动基金(Z1534004)
更新日期/Last Update: 2017-01-20