【摘要】 大滞后大惯性对象的控制一直是理论上得到重视但又没有得到充分解决的问题。 Ｓｍ ｉｔｈ 预估器是用于大滞后大惯性对象的有效设计方法，但是对实际过程的参数变化很敏感。为改进 Ｓｍ ｉｔｈ 预估器的鲁棒性，文章首先把 Ｓｍ ｉｔｈ 预估器系统等效成为等价的内模控制系统，在对其稳定性和动态性能分析的基础上，根据回路成形的思想，提出了一种新的 Ｓｍ ｉｔｈ 预估器的解析设计方法，所得控制器可等效成 Ｐ Ｉ Ｄ控制的形式，便于在实践中使用。理论分析和仿真计算表明，该方法能使闭环系统具有较好的动态性能和稳定性，而且鲁棒性较好更多还原

【Abstract】 Large delay objects are very common in industrial process control. Such control problem is significant in both theory and practice. Smith predictor is proved to be an effective way to deal with large delay objects, but it is sensitive to the model error. In this paper, the equivalent inner model control of Smith predictor was derived, and then its stability and performance problems were analyzed. Based on loop shifting theory, a new analytic method was presented to design a Smith predictor. The resulted controller can be applied to objects with a large delay, and the robust performance and stability of the closed loop can be guaranteed. The controller can be equivalently transformed into a PID type controller, and the parameters can be easily derived, so it is very convenient to industrial process control applications.更多还原