积分型线性自抗扰控制器的参数整定与应用

发布时间：2018-05-26 10:54

本文选题：自抗扰控制 + 参数整定　；参考：《江苏大学》2017年硕士论文

【摘要】：自抗扰控制器由于其算法简单、容易实现、鲁棒性好、抗干扰能力强等优点而逐渐成为现代先进控制方法的研究热点,它不需要被控对象精确的数学模型,利用扩张状态观测器对系统内部状态和不确定性进行估计和补偿,所以具有很强的模型适应性。然而由于自抗扰控制器可调参数多不易整定、工程应用实例少、缺乏实际的控制器参数整定经验等问题,导致其在工业控制中的应用受到限制。为此,本文在深入分析自抗扰控制器结构的基础上,提出了一套积分型线性自抗扰控制器的参数整定方法,并在火电厂再热汽温控制系统中进行了应用。首先,本文提出了一种2阶的积分型线性自抗扰控制器(I-LADRC)。通过分析I-LADRC的稳定性及其稳态误差,得出了控制器稳定的充要条件以及稳态误差的形式。将其与传统LADRC算法进行了对比仿真实验,结果表明,积分环节的加入可以有效提高LADRC系统的响应速度,减小调节时间,增强系统的鲁棒性能,消除稳态误差。其次,针对0b参数的整定问题,将N4SID子空间模型辨识算法与ADRC相结合,提出了一种基于N4SID子空间模型辨识算法的0b参数整定方法,并根据期望的调节时间整定出观测器带宽与控制器带宽,从而简化了整个参数整定流程,使其更加便于实际工程应用。在低阶系统、非最小相位系统、高阶系统和时滞系统中的仿真实验表明,I-LADRC可以应用于不同类型的系统,与LADRC相比具有更好的鲁棒性能。最后,由于火电机组再热汽温控制系统的大时滞、非线性、变量耦合、强扰动等特性越显突出,致使传统的PID控制器难以取得令人满意的控制效果。为此,本文设计了一种积分型线性自抗扰控制方案,利用N4SID方法对荆门热电厂再热汽温系统的数学模型进行了辨识,研究了I-LADRC控制器的控制能力并进行了仿真验证和现场测试。仿真和现场测试结果一致表明,I-LADRC控制器能有效克服再热汽温系统的大时滞、非线性等问题,具有良好鲁棒性。本文的研究结果显示了自抗扰控制技术在再热汽温系统控制中具有一定的应用前景。
[Abstract]:Since the ADRC has the advantages of simple algorithm, easy implementation, good robustness and strong anti-jamming ability, it has gradually become the research hotspot of modern advanced control methods, and it does not need the precise mathematical model of the controlled object. The extended state observer is used to estimate and compensate the internal state and uncertainty of the system, so it has strong model adaptability. However, the application of ADRC in industrial control is limited due to the difficulty of tuning the adjustable parameters of the ADRC, the few engineering applications and the lack of practical controller parameter tuning experience. Based on the deep analysis of the structure of the ADRC, a set of parameter tuning method of the integral linear ADRC is proposed and applied in the reheat steam temperature control system of thermal power plant. Firstly, an integral linear ADRC controller of order 2 is proposed in this paper. By analyzing the stability of I-LADRC and its steady-state error, the necessary and sufficient conditions of controller stability and the form of steady-state error are obtained. Compared with the traditional LADRC algorithm, the simulation results show that the integration can effectively improve the response speed of the LADRC system, reduce the adjusting time, enhance the robust performance of the system, and eliminate the steady-state error. Secondly, aiming at the problem of 0b parameter tuning, a method of 0b parameter tuning based on N4SID subspace model identification algorithm is proposed by combining N4SID subspace model identification algorithm with ADRC. The bandwidth of the observer and the controller are determined according to the expected adjusting time, which simplifies the whole parameter setting process and makes it more convenient for practical engineering application. Simulation results in low-order systems, non-minimum phase systems, high-order systems and time-delay systems show that I-LADRC can be applied to different types of systems, and it has better robustness than LADRC. Finally, because of the characteristics of large delay, nonlinear, variable coupling and strong disturbance in the reheat steam temperature control system of thermal power unit, it is difficult for the traditional PID controller to obtain satisfactory control effect. In this paper, an integral linear ADRC control scheme is designed. The mathematical model of the reheat steam temperature system in Jingmen Thermal Power Plant is identified by using N4SID method. The control capability of the I-LADRC controller is studied, and the simulation and field test are carried out. The simulation results and the field test results show that the I-LADRC controller can effectively overcome the large delay and nonlinear problems of the reheat steam temperature system and has good robustness. The results show that the ADRC technology has a certain application prospect in the control of reheat steam temperature system.
【学位授予单位】：江苏大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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