Linear active disturbance rejection control for ball mill coal-pulverizing systems
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摘要: 球磨機制粉系統具有大慣性、大時滯和強耦合等特點,很難建立精確的數學模型.本文分析了球磨機制粉系統的動態特性,并為其設計分散線性自抗擾控制方案.該方案綜合分散控制和線性自抗擾控制器的優點,結構簡單,不依賴于對象精確模型,可以對被控對象中存在的耦合、干擾和不確定性等進行估計并補償.根據實際現場要求,對球磨機制粉系統進行設定值跟蹤實驗、輸入擾動實驗和性能魯棒性實驗,并比較所設計方案與PID方案的控制性能.結果表明,分散線性自抗擾控制具有更強的解耦能力和抗干擾能力,且性能魯棒性更優.Abstract: The ball mill coal-pulverizing (BMCP) system is a multivariable coupled system with long time-delay, large inertia and parameter uncertainties. This paper analyzes the dynamic characteristics of the BMCP system and proposes a control strategy based on a decentralized linear active disturbance rejection controller (LADRC). The proposed control strategy has simple structure, strong disturbance rejection ability, and is independent of accurate mathematical models. When it is applied to the BMCP system, parameter uncertainties, disturbances and coupling in the BMCP system can be estimated and actively compensated. Based on industrial control requirements, set point tracking simulation, perturbation simulation and random Monte-Carlo experiment are carried out. In comparison with a PID controller, the LADRC achieves better control results and has a stronger robustness.
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Key words:
- ball mills /
- coal pulverizing /
- disturbance rejection /
- linear control systems /
- decoupling /
- robustness
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