非最小相位对象是工业控制中的典型难题,尤其当不稳定极点或零点与时滞同时存在时,系统更难实现稳定控制.基于含不稳定极点的一阶时滞对象,通过引入两个比例反馈设计了新型Smith自抗扰控制器,分析了两个反馈的作用机理,并得到了系统模型误差的最大允许边界.当对象参数摄动时,运用仿真研究了系统的频域和时域特性,绘制了不同模型下的最大误差边界值与频率的关系.最后,通过蒙特卡罗试验验证了新型Smith自抗扰控制器的抗扰能力优于改进的Smith-PID控制器.%Non-minimum phase plant is the typical problem in industrial control, especially when unstable poles or zeros and time-delay exist simultaneously, and it is more difficult to achieve stable control.Based on the first-order time-delay plant with an unstable pole, a new type of active disturbance rejection control (ADRC) -Smith controller is designed by introducing two proportional feedbacks along with the mechanism analysis, and the maximum permissible boundary of system model error is obtained.When there is parameter perturbation, the characteristics of systems in frequency and time domain are analyzed using simulations, and the relationship between the maximum error boundary and frequency for different plants is drawn.Finally, Monte Carlo test is used to verify that the disturbance rejection capability for the new type of ADRC-Smith controller is better than modified Smith-PID controller.
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