积分时滞对象的一种内模PID鲁棒控制方法

针对工业系统中常见的具有积分和时滞特性的过程对象,基于内模控制原理,将IMC-PID(internal model control-proportional integral derivative)控制器参数整定与鲁棒控制相结合,设计一种IMC-PID控制器参数的鲁棒整定方法。通过一阶环节逼近积分环节,采用泰勒公式逼近时滞项,推导得到IMC-PID控制器参数的设计公式。并基于鲁棒性能指标给出了简单的参数整定解析表达式,实现IMC-PID控制器的鲁棒整定。仿真结果表明,基于鲁棒性能指标的IMC-PID控制方法克服了常规方法中参数整定的盲目性,可使系统同时获得良好的动态响应性能和鲁棒性。

An IMC-PID robust control method for process of integrator plus time delay

For the integrated plus time delay in industrial system, a design and parameters tuning approach of internal model control PID(IMCPID)controller was proposed. The integrator in the model was replaced by a first-order lag, the steady-state performance of the system was improved, the time-delay term in the model was approached with the first-order Taylor expansion, and the design method of IMC-PID controller was founded. The analytical expression for robust tuning the adjustable parameter of the IMC-PID controller was derived based on the robustness index of the control system. The simulation results showed that the proposed method could provide a better dynamic performance and robustness against parameters perturbation, and the blindness of conventional method for controller parameter tuning was overcome.