时滞系统的控制方法研究
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摘要
时滞系统的控制是控制理论应用的一个重要领域，为了提高常规时滞控制系统的鲁棒性能，本文将智能控制和变结构控制引入到时滞系统的控制中。论文首先分析了滞后环节对系统性能的影响，讨论了几种常规控制方法，解析说明了常规控制方法鲁棒性能较差。Smith控制是基于模型的补偿控制，但其对参数变化较为敏感。模糊控制无需对象精确数学模型，但是直接应用于大滞后系统较为困难。因此本文将模糊控制与Smith控制相结合，提出了几种针对大纯滞后系统的模糊自适应控制算法。变结构控制控制对系统参数和外部扰动的不确定性具有较强的鲁棒性，为了充分利用变结构控制这一突出优点，论文分别研究了状态存在滞后和控制存在滞后的时滞系统的变结构控制。仿真研究均说明了所设计的模糊自适应控制算法和变结构控制算法的有效性。最后论文讨论了电厂锅炉过热汽温的模糊控制系统，并设计了其硬件电路实现图。
Time-delay system is the important field for the application of the control theory. In this paper, intelligent control and variable structure control for time-delay system is introduced in order to increase the robustness of the general time-delay control system. Firstly, this paper analyzes the dynamic performance of time-delay, discusses the insufficiency of some general control schemes for time-delay. Smith controller is a kind of compensation control based on plant model, but it is sensitive to the variance of parameter. Fuzzy control does not require accurate plant model, but it can not be directly applied for time-delay system. Therefore, this paper presents some new fuzzy adaptive approaches to time-delay systems, which combines fuzzy control and Smith control. Variable structure control is robust to parameter and external disturbance uncertainty, so state-delay system and input-delay system by variable structure sliding mode control are studied in this paper .The result of simulation shows that the d
esigned fuzzy adaptive controller and sliding mode controller are effective. In the end, the control system and its hardware diagram for steam-gas temperature of boiler in the power plant is designed.
Time-delay system is the important field for the application of the control theory. In this paper, intelligent control and variable structure control for time-delay system is introduced in order to increase the robustness of the general time-delay control system. Firstly, this paper analyzes the dynamic performance of time-delay, discusses the insufficiency of some general control schemes for time-delay. Smith controller is a kind of compensation control based on plant model, but it is sensitive to the variance of parameter. Fuzzy control does not require accurate plant model, but it can not be directly applied for time-delay system. Therefore, this paper presents some new fuzzy adaptive approaches to time-delay systems, which combines fuzzy control and Smith control. Variable structure control is robust to parameter and external disturbance uncertainty, so state-delay system and input-delay system by variable structure sliding mode control are studied in this paper .The result of simulation shows that the d
esigned fuzzy adaptive controller and sliding mode controller are effective. In the end, the control system and its hardware diagram for steam-gas temperature of boiler in the power plant is designed.
引文
1. J. E. Marshall. Control of Time Delay System, [J]. The Institution of Electrical Engineers, 1979
2．翁维勤，周庆海．过程控制系统及工程，[M]．北京：化学工业出版社，1995
3．沈平．时间滞后调节系统，[M]．北京：化工出版社，1985，6
4．王永初．滞后过程的预估与控制，[M]．北京：机械工业出版社，1987，10
5．宋云霞，朱学锋．大时滞过程控制方法及应用，[J]．化工自动化及仪表，2001，28 (4)
6. YAFIAGBEDZI, AZ.PEARSON,A PI-Controller for Distributed Delay Systems, [J]. Automatica, 1987 23(6)
7. Astrom and T. Hagglund. Industrial adaptive controller based on frequentcyt response techniques, [J]. Automatica, 1991, 27(4)
8. LI Chun, Jiang Qirong, Xiu Lincheng. Reactive Power Control of STATCOM Using PID Auto-tuning Technique and Fuzzy Set, [J]. 控制理论与应用，2000, 17(6)
9. Zhi-wei Woo, Hung-Yuan Chung, Jin-Jye Lin. A PID type fuzzy controller with self-tuning scaling factors, [J]. Fuzzy Sets and Systems, 2000, 11 (5)
10. Wu ZhiQiao, Mizumoto. PID Type Fnzzy and Parameters Adaptive Method, [J]. Fuzzy Sets and Systems, 1996, 78
11. Hunt K J. Extending the functional equivalence of radial basis function network and fuzzy inference system, [J]. IEEE Trans. on Neural Networks, 1996, 7(3)
12．庄斌．强干扰大滞后对象智能控制研究，[硕士论文]，长沙：湖南大学，1997
13. Smith, O. J. M. Closer Control of Loops With Dead Time, [J]. Chemical Engineering Progress, 1957, 53
14. Hang CC.A Performance study of Control Systems with Dead Time, [J]. IEEE. IECI, 1980, 27
15. MOHSEN. RAZZAGHI, MEHDI. RAZAAGHI. Taylor series analysis of timevarying multi-delay systems, [J]. INT. J. CONTROL, 1989, 50(1)
16. JAMES LAM, Model reduction of delay systems using pade approximants, [J], INT. J. CONTROL, 1993, 57(2)
17．张卫东，孙优贤．一类Smith预估器及其鲁棒稳定，[J]．自动化学报，1997，23(5)
18. TAN, K. K, WANG, Q. G., LEE, T. H, and BI, Q. New approach to analysis and design of Smith-predictor controller, [J]. AICHE J, 1996, 42(6)
19. S. Majhi and D. P. Atherton. Modified Smith predictor and controller for processes with time delay, [J]. IEE Proc, -Control Therory Appl., 1999, 146(5)
20．陆燕，杜继宏，李春文．延迟时间未知的时延系统神经网络补偿控制，[J]．清华大学学报，1996，22(4)
21. Tzuu-Hseng S. Li, Ming-Yuan Shieh. Design of a GA-based fuzzy PID controller for non-minimum phase systems, [J]. Fuzzy Sets and Systems, 2000, 11 (1)
22．谢胜利，谢振本，刘永清．时滞控制系统的无时滞变结构控制器，[J]．控制理论与应用，1998，15(6)
23. Jafarov, E M. Ananlysis and Synthesis of Multidimensional SVS with Delays in Sliding Modes, [J]. Proc. 11th IFAC World Congress, Tallinn. 1990, 6
24．邵裕森，戴先中．过程控制工程，[M]．北京：机械工业出版社，2000
25．纪兴权，赵景玉，于婉丽．一种大纯滞后采样控制系统的分析与工程设计，[J]．石油化工自动化，2000，5
26. Hu L-S, Shao H-H, Sun Y-X. Sampled-data control for time-delay uncertain linear systems, [J]. Control Theory and Applocation, 2000, 17(3)
27. Dahlin, E. B. Designing and Tuning Digital Controller, [J]. Instr & Contr. System, 1968, 41(7)
28．钱异，费炳铨，章兢．计算机控制系统的理论和设计，[M]．长沙：湖南大学出版社，1989
29．张卫东．过程控制解析设计方法研究：[博士后论文]．上海：上海交通大学：1998
30. Zhang, W. D., Y. X. Sun, and X. M.. Xu. Robust Digital Controller Design:Some New Results, [J]. IEE Proc., Part D, 1998, 145(2)
31. Gilead Tadmor. The standard H_∞ problem in systems with a single input delay [J]. IEE TRANS. ON AUTOMATIC CONTROL, 2000, 45(3)
32．唐伟，陈玉东，施颂椒，王孟效．Smith预估器Dahlin控制器及PID控制器间的内在联系和参数整定，[J]．电气自动化，2000，3
33．李士勇．模糊控制．神经控制和智能控制论，[M]．哈尔滨：哈尔滨工业大学出版社，1996
34．王立新．自适应模糊控制与系统，[M]．北京：国防工业出版社，1993
35．张振东，孙增圻．T-S模型的逼近能力，[J]．信息与控制，1999，28(8)增
36．张曾科．模糊数学在自动化技术中的应用，[M]．北京：清华大学出版社，1996
37. S. G. CAO, N. M. REES and G. FENG. Stability analysis and design for a class of continuous-time fuzzy control systems, [J]. INT. J. CONTROL, 1996, 64(6)
38. DP Filev, R R Yager. On the analysis of fuzzy ligic controllers, [J]. Fuzzy Sets and Systems, 1994, 68(1)
39. J J Buckley. Fuzzy controller theory: limit theorems for linear control rules, [J]. Automatica, 1989, 25
40. H X Li. A compareative design and tuning for conventional fuzzy control, [J]. IEEE Trans on Systems Man and Cybernetic, 1997, 27(5)
41. D Misir, H A Malki, G R Chen. Design and analysis of a fuzzy proportionalintegral-derivative controller, [J]. Fuzzy Sets and Systems, 1996, 79(3)
42．刘红波，柴天佑，张晶涛，曹方，李健．一种新的鲁棒串级控制系统及其应用，[J]．仪器仪表学报，2000，21(4)
43. QIUPING HU and GADE PANDU. Internal mode control with feedback compensation for uncertain nonlinear systems, [J]. INT. J. CONTROL, 2001, 74(4)
44. Meng Joo Er and Jianya Lin. Fuzzy Neural Networks-Based Quality Prediction System for Sintering Process, [J]. IEE TRANS. ON FUZZY SYSTEMS, 2000, 8(3)
45. Keigo Watanabe et al. A Fuzzy -Gaussian Neural Network and Its Application to Mobile Robust Control, [J]. IEEE Trans. Control Systems Technology, 1996, 4(2)
46．姚琼荟，黄继起，吴汉松著．变结构控制系统，[M]．重庆：重庆大学出版社，1997．
47．高为炳著．变结构控制的理论及设计方法，[M]．北京：科学出版社，1996
48. B. ROSS BARMISH and ZHICHENG SHI. Robust Stability of Perturbed Systems With Time Delay, [J]. Automatica, 1989, 25(3)
49．张志飞，刘祖润，李仁发．时滞线性系统(?)(t)=Ax(t)+Bx(t-z)稳定性的新判据，[J]．信息与控制，2001，30(1)
50. Leonid Nai mark, Jacob Kogan, Ezva Zeheb. Stabilizability considerations and design of rational controller for a class of time-delay systems, [J]. Automatica, 2000, 36(4)
51. KUO-KAI SHYU, JUN-JUH YAN. Robust stability of uncertain time-delay systems and its stabilization by variable structure control, [J]. INT. J. CONTROL, 1993, 57(1)
52．谢胜利．滞后分布参数的稳定与变结构控制：[博士论文]．广州：华南理工大学，1997
53. N. LUO, Mdelasen. State feedback sliding mode control of a class of uncertain time delay systems, [J]. IEE PROCEEDINGS-D, 1993, 140(4)
54. Jesus Leyva-Ramos, AUam E. Pearson. Output feedback stabilization controller for time-delay systems, [J]. Automatica, 2000, 36(5)
55. C-L Hwang. Sliding, ode control using time-varying switching gain and boundary layer for electrohydraulic position and differential pressure control, [J]. IEE Proc-Control Theroy Appl., 1996, 143(4)
56．郑锋，程勉，高为炳．一类时滞线性系统的变结构控制，[J]．自动化学报，1995，21(2)
57. Heck, B. S., and Ferri, A. A. Application of Output Feedback to Variable Structure Systems, [J]. Journal of Guidance, Control and Dynamics, 1989, 12(6)
58. T. -L. Chem, Y. -C. Wu. Design of brushless DC position servo systems using integral variable structure approach, [J]. IEE PROCEEDINGS-B, 1993, 140(1)
59. Young-Hoon Roh, Jun-HO. oh. Robust stabilization of uncertain input-delay systems by sliding mode control with delay compensation, [J]. Automatica, 1999, 35(5)
60．郑锋，程勉，高为炳．控制存在时滞的系统的变结构控制，[J]．控制与决策，1993，8(2)
61．张玉峰，玉满稼．热工自动控制系统，[M]．北京：水利电力出版社，1985
62. Chawdhry P K. Identification of boiler models, [J]. IEEE Proc D, 1989, 136(2)
63. Pelleegrinetti G, Bentsman J. Nonlinear control oriented boiler modeling—a benchmark problem for controller design, [J]. IEEE Trans. Control Systems Technology, 1996, 4(1)
64．韩忠旭，张智．状态观测器及状态反馈控制在亚临界锅炉蒸汽温度控制系统中的应用，[J]．中国电机工程学报，1999，19(11)
65．钟庆昌，贾青，谢剑英．不确定LTI-SISO系统的低通滤波降阶时滞观测器控制，[J]．控制与决策，2001，16(4)
66．钟庆昌，谢剑英，梁春燕．时滞滤波器及其应用研究，[J]．上海交通大学学报，1999，5(1)
67. Youcef Toumo K, Ito O. A time delay controller for systems with unknown dynamoics, [J]. Journal of Dynamic Systems Measurement & Control-Trans of the ASME, 1990, 112(4)
2．翁维勤，周庆海．过程控制系统及工程，[M]．北京：化学工业出版社，1995
3．沈平．时间滞后调节系统，[M]．北京：化工出版社，1985，6
4．王永初．滞后过程的预估与控制，[M]．北京：机械工业出版社，1987，10
5．宋云霞，朱学锋．大时滞过程控制方法及应用，[J]．化工自动化及仪表，2001，28 (4)
6. YAFIAGBEDZI, AZ.PEARSON,A PI-Controller for Distributed Delay Systems, [J]. Automatica, 1987 23(6)
7. Astrom and T. Hagglund. Industrial adaptive controller based on frequentcyt response techniques, [J]. Automatica, 1991, 27(4)
8. LI Chun, Jiang Qirong, Xiu Lincheng. Reactive Power Control of STATCOM Using PID Auto-tuning Technique and Fuzzy Set, [J]. 控制理论与应用，2000, 17(6)
9. Zhi-wei Woo, Hung-Yuan Chung, Jin-Jye Lin. A PID type fuzzy controller with self-tuning scaling factors, [J]. Fuzzy Sets and Systems, 2000, 11 (5)
10. Wu ZhiQiao, Mizumoto. PID Type Fnzzy and Parameters Adaptive Method, [J]. Fuzzy Sets and Systems, 1996, 78
11. Hunt K J. Extending the functional equivalence of radial basis function network and fuzzy inference system, [J]. IEEE Trans. on Neural Networks, 1996, 7(3)
12．庄斌．强干扰大滞后对象智能控制研究，[硕士论文]，长沙：湖南大学，1997
13. Smith, O. J. M. Closer Control of Loops With Dead Time, [J]. Chemical Engineering Progress, 1957, 53
14. Hang CC.A Performance study of Control Systems with Dead Time, [J]. IEEE. IECI, 1980, 27
15. MOHSEN. RAZZAGHI, MEHDI. RAZAAGHI. Taylor series analysis of timevarying multi-delay systems, [J]. INT. J. CONTROL, 1989, 50(1)
16. JAMES LAM, Model reduction of delay systems using pade approximants, [J], INT. J. CONTROL, 1993, 57(2)
17．张卫东，孙优贤．一类Smith预估器及其鲁棒稳定，[J]．自动化学报，1997，23(5)
18. TAN, K. K, WANG, Q. G., LEE, T. H, and BI, Q. New approach to analysis and design of Smith-predictor controller, [J]. AICHE J, 1996, 42(6)
19. S. Majhi and D. P. Atherton. Modified Smith predictor and controller for processes with time delay, [J]. IEE Proc, -Control Therory Appl., 1999, 146(5)
20．陆燕，杜继宏，李春文．延迟时间未知的时延系统神经网络补偿控制，[J]．清华大学学报，1996，22(4)
21. Tzuu-Hseng S. Li, Ming-Yuan Shieh. Design of a GA-based fuzzy PID controller for non-minimum phase systems, [J]. Fuzzy Sets and Systems, 2000, 11 (1)
22．谢胜利，谢振本，刘永清．时滞控制系统的无时滞变结构控制器，[J]．控制理论与应用，1998，15(6)
23. Jafarov, E M. Ananlysis and Synthesis of Multidimensional SVS with Delays in Sliding Modes, [J]. Proc. 11th IFAC World Congress, Tallinn. 1990, 6
24．邵裕森，戴先中．过程控制工程，[M]．北京：机械工业出版社，2000
25．纪兴权，赵景玉，于婉丽．一种大纯滞后采样控制系统的分析与工程设计，[J]．石油化工自动化，2000，5
26. Hu L-S, Shao H-H, Sun Y-X. Sampled-data control for time-delay uncertain linear systems, [J]. Control Theory and Applocation, 2000, 17(3)
27. Dahlin, E. B. Designing and Tuning Digital Controller, [J]. Instr & Contr. System, 1968, 41(7)
28．钱异，费炳铨，章兢．计算机控制系统的理论和设计，[M]．长沙：湖南大学出版社，1989
29．张卫东．过程控制解析设计方法研究：[博士后论文]．上海：上海交通大学：1998
30. Zhang, W. D., Y. X. Sun, and X. M.. Xu. Robust Digital Controller Design:Some New Results, [J]. IEE Proc., Part D, 1998, 145(2)
31. Gilead Tadmor. The standard H_∞ problem in systems with a single input delay [J]. IEE TRANS. ON AUTOMATIC CONTROL, 2000, 45(3)
32．唐伟，陈玉东，施颂椒，王孟效．Smith预估器Dahlin控制器及PID控制器间的内在联系和参数整定，[J]．电气自动化，2000，3
33．李士勇．模糊控制．神经控制和智能控制论，[M]．哈尔滨：哈尔滨工业大学出版社，1996
34．王立新．自适应模糊控制与系统，[M]．北京：国防工业出版社，1993
35．张振东，孙增圻．T-S模型的逼近能力，[J]．信息与控制，1999，28(8)增
36．张曾科．模糊数学在自动化技术中的应用，[M]．北京：清华大学出版社，1996
37. S. G. CAO, N. M. REES and G. FENG. Stability analysis and design for a class of continuous-time fuzzy control systems, [J]. INT. J. CONTROL, 1996, 64(6)
38. DP Filev, R R Yager. On the analysis of fuzzy ligic controllers, [J]. Fuzzy Sets and Systems, 1994, 68(1)
39. J J Buckley. Fuzzy controller theory: limit theorems for linear control rules, [J]. Automatica, 1989, 25
40. H X Li. A compareative design and tuning for conventional fuzzy control, [J]. IEEE Trans on Systems Man and Cybernetic, 1997, 27(5)
41. D Misir, H A Malki, G R Chen. Design and analysis of a fuzzy proportionalintegral-derivative controller, [J]. Fuzzy Sets and Systems, 1996, 79(3)
42．刘红波，柴天佑，张晶涛，曹方，李健．一种新的鲁棒串级控制系统及其应用，[J]．仪器仪表学报，2000，21(4)
43. QIUPING HU and GADE PANDU. Internal mode control with feedback compensation for uncertain nonlinear systems, [J]. INT. J. CONTROL, 2001, 74(4)
44. Meng Joo Er and Jianya Lin. Fuzzy Neural Networks-Based Quality Prediction System for Sintering Process, [J]. IEE TRANS. ON FUZZY SYSTEMS, 2000, 8(3)
45. Keigo Watanabe et al. A Fuzzy -Gaussian Neural Network and Its Application to Mobile Robust Control, [J]. IEEE Trans. Control Systems Technology, 1996, 4(2)
46．姚琼荟，黄继起，吴汉松著．变结构控制系统，[M]．重庆：重庆大学出版社，1997．
47．高为炳著．变结构控制的理论及设计方法，[M]．北京：科学出版社，1996
48. B. ROSS BARMISH and ZHICHENG SHI. Robust Stability of Perturbed Systems With Time Delay, [J]. Automatica, 1989, 25(3)
49．张志飞，刘祖润，李仁发．时滞线性系统(?)(t)=Ax(t)+Bx(t-z)稳定性的新判据，[J]．信息与控制，2001，30(1)
50. Leonid Nai mark, Jacob Kogan, Ezva Zeheb. Stabilizability considerations and design of rational controller for a class of time-delay systems, [J]. Automatica, 2000, 36(4)
51. KUO-KAI SHYU, JUN-JUH YAN. Robust stability of uncertain time-delay systems and its stabilization by variable structure control, [J]. INT. J. CONTROL, 1993, 57(1)
52．谢胜利．滞后分布参数的稳定与变结构控制：[博士论文]．广州：华南理工大学，1997
53. N. LUO, Mdelasen. State feedback sliding mode control of a class of uncertain time delay systems, [J]. IEE PROCEEDINGS-D, 1993, 140(4)
54. Jesus Leyva-Ramos, AUam E. Pearson. Output feedback stabilization controller for time-delay systems, [J]. Automatica, 2000, 36(5)
55. C-L Hwang. Sliding, ode control using time-varying switching gain and boundary layer for electrohydraulic position and differential pressure control, [J]. IEE Proc-Control Theroy Appl., 1996, 143(4)
56．郑锋，程勉，高为炳．一类时滞线性系统的变结构控制，[J]．自动化学报，1995，21(2)
57. Heck, B. S., and Ferri, A. A. Application of Output Feedback to Variable Structure Systems, [J]. Journal of Guidance, Control and Dynamics, 1989, 12(6)
58. T. -L. Chem, Y. -C. Wu. Design of brushless DC position servo systems using integral variable structure approach, [J]. IEE PROCEEDINGS-B, 1993, 140(1)
59. Young-Hoon Roh, Jun-HO. oh. Robust stabilization of uncertain input-delay systems by sliding mode control with delay compensation, [J]. Automatica, 1999, 35(5)
60．郑锋，程勉，高为炳．控制存在时滞的系统的变结构控制，[J]．控制与决策，1993，8(2)
61．张玉峰，玉满稼．热工自动控制系统，[M]．北京：水利电力出版社，1985
62. Chawdhry P K. Identification of boiler models, [J]. IEEE Proc D, 1989, 136(2)
63. Pelleegrinetti G, Bentsman J. Nonlinear control oriented boiler modeling—a benchmark problem for controller design, [J]. IEEE Trans. Control Systems Technology, 1996, 4(1)
64．韩忠旭，张智．状态观测器及状态反馈控制在亚临界锅炉蒸汽温度控制系统中的应用，[J]．中国电机工程学报，1999，19(11)
65．钟庆昌，贾青，谢剑英．不确定LTI-SISO系统的低通滤波降阶时滞观测器控制，[J]．控制与决策，2001，16(4)
66．钟庆昌，谢剑英，梁春燕．时滞滤波器及其应用研究，[J]．上海交通大学学报，1999，5(1)
67. Youcef Toumo K, Ito O. A time delay controller for systems with unknown dynamoics, [J]. Journal of Dynamic Systems Measurement & Control-Trans of the ASME, 1990, 112(4)
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