【作者】 戴小文； 陈留； 倪文波；

【Author】 Dai Xiaowen, Chen Liu,Ni Wenbo (List, of Rail Vehicles,Southwest Jiaotong University, ChengDu,China)

【机构】 西南交通大学:机车车辆所； 西南交通大学:机械学院；

【摘要】 提出滞后过程的伪微分反馈次变量+SMITH预估器的控制方法:用线性方法计算各控制系数。定量地分析这种控制方法对滞后被控对象参数变化的不敏感性。拟合出可以指导控制器设计的公式。利用改型SMITH预估器,解决了当阶跃干扰作用于在原点处有一个或二个极点的无自衡对象会产生静态误差的问题。介绍了实际控制系统,在实物实验机械臂的一个关节上验证了这种控制。更多还原

【Abstract】 Application of the SMITH predictor in compensation of the control system with a significant time - delay are investigated to extend the uses of Pseudo - Derivative - Feedback Subvariable control scheme(PDFSV) . The control coefficients are counted with linear way. The tolerance basin boundaries for the predictor’s parameter deviation are found to be functions of the ratio of the delay time to the specified equivalent time related to the nominal plant parameter, the reference input and the maximum control effort.A modification to the SMITH pre dictor results in a successful control of the time - deley second - order plant, which has one or two poles at the orgin, without steady - state error when a step load acts on the system. The effectiveness of PDFSV + modified SMITH predictor scheme is verified through computer simulations and experimental studies.更多还原