基于改进Smith预估控制结构的二自由度PID控制

针对工业过程中的二阶不稳定时滞过程, 基于改进史密斯预估控制结构提出了一种简单的两自由度控制方案.设定值跟踪控制器和扰动抑制控制器采用同一设计程序, 并基于内模控制原理提出了控制器解析设计方案.设定值跟踪控制器和抗扰动控制器可分别通过单性能参数独立调节和优化, 每个控制器都具有PID形式, 给出了控制器调整参数的选择范围和扰动抑制闭环保证鲁棒稳定性的条件.仿真实例验证了提出方法对于近期其他方法的优越性.

Two Degree of Freedom PID Control Based on Modified Smith Predictor Control Structure

A simple two degree of freedom control scheme is proposed for second-order unstable processes with time delay based on modified Smith predictor control structure. The set point tracking controller and the disturbance rejection controller are designed with the same procedure, and analytical design method on the basis of the internal model control (IMC) design principle is adopted for the two controllers. The controller for setpoint response and the controller for disturbance can be adjusted and optimized independently, and the two controllers are designed as PID form respectively. Suitable values for the adjustable parameters of two controllers and conditions holding the closed loop robust stability are recommended. Simulation examples demonstrate the superiority of the proposed method over recent other approaches.