基于IMC的PID控制器的设计实现

内模控制（IMC）是一种基于过程数学模型进行控制器设计的新型控制策略。自面世以来，不仅在工业过程控制中获得了成功的应用，而且表现出在控制系统稳定性和鲁棒性理论分析方面的优势，尤其是它仅有一个整定参数，参数调整与系统动态品质和鲁棒性的关系比较明确，采用内模控制原理可以提高PID控制器的设计水平。该文正是从IMC的结构出发，提出了一种简洁的IMC—PID控制器设计思路，并利用MATLAB进行仿真研究。分析发现，该控制器具有常规PID的优点，对于大纯滞后或非线性系统能够很好地工作，可以推广应用于一般工业过程。

Design and Realization of PID Control Based on IMC

IMC is a new-type control strategy that the controller is designed on the basis of mathematics model of course. Since emerging, its application has not merely succeeded in the industrial process control, and demonstrates the advantage of the respect in the stability of control system and robustness theory analysis. Especially there is only one decided parameter exactly, the parameter is adjusted with dynamic quality and robustness of the system more clearly, so the principle of IMC can improve the design level of PID controller while adopting. In this paper, a simple design method of IMC-PID is given, which is just originated from the IMC (Internal Mode Control) structure, and simulation & study are carried out based on MATLAB. Through analysis, we can find the controller has routine PID merit and works well in time delay or non- linear system, so it can be popularized and applied to the general industrial process.