自抗扰控制器在液位控制中的研究

摘要

经典PID控制器由于其简单实用,在液位控制中广泛的应用.但对于涉及到工业过程控制中的一阶时滞系统来说:PID控制存在着诸多不理想因素,如环境变化等容易导致工业模型参数随之变化造成的控制不理想.为了改善其液位的控制效果并保留经典PID控制的简单实用性.提出了一种比较新型的控制方案:即自抗扰控制器(ADRC)水箱液位控制.自抗扰控制器具有模型简单,收敛速度快,精度高,参数易于调节等特点,通过建立控制系统的仿真模型,将用Z-N整定方法的PID控制与自抗扰控制进行比较,并进行了仿真对比研究.结论表明:自抗扰算法在液位控制等控制工程中是一种优秀的控制方案.%Classic PID control is widely used in Liquid Level Control because of its simplicity and practicality. But for the process control of the first - order systems with time delay, PID control has many non - ideal factors, such as, the variety of environment may lead to the change of parameters of the industrial model that causes a poor performance. In order to improve the control effect and preserve the excellent aspect of PID control, a water tank liquid control method based on Active Disturbance Rejection Controller (ADRC) is presented. And ADRC controller possesses following characteristics: simple, rapid convergence, high precision and the adjustment of the parameters is easier. The software of MATLAB is used to build simulation model for control system. And the simulation is carried out, and compared the PID using Ziegler - Nichols' method wiht the ADRC, the result shows that ADRC is excellent in the field of control engineering.