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混凝投药过程具有明显的大时滞、不确定性和干扰多等特点,一直是制水行业公认的重要又难控的系统,实际中主要采用基于源水流量的前馈和基于浊度误差的PID反馈相结合的控制方案。针对其不确定性和干扰多的特点,采用自抗扰控制器实时估计不确定性形成的总扰动并进行主动补偿;针对大时滞过程信息反馈不及时的特点,采用Smith预估器对输出提前预估来弥补信息滞后。分析了预测自抗扰控制器的原理及参数对系统性能的影响,给出了参数整定公式,得到一种简单实用的专用混凝投药预测自抗扰工业控制器。仿真结果表明,该控制器具有良好的自抗扰能力和快速的响应速度,且参数整定容易,为该控制器的工业化推广提供了积极指导作用。
The coagulation process has obvious characteristics of large time delay, uncertainties and interferences. It has been recognized as an important and difficult control system in the water industry. In practice, feedforward based on source water flow and turbidity error PID feedback combined with control scheme. According to the characteristics of its uncertainty and interference, the AD disturbance controller is used to estimate the total disturbance caused by the uncertainty in real time and make active compensation. According to the characteristics that the information feedback of the process with large time delay is not timely, the Smith predictor outputs Advance estimates to make up for the information lag. The influence of predicting ADRC controller ’s principle and parameters on system performance is analyzed. A parameter tuning formula is given and a simple and practical dedicated anticollision forecasting ADRC controller is obtained. The simulation results show that the controller has good self-rejection ability and fast response speed, and the parameter tuning is easy, which provides a positive guide for the industrialization of the controller.