摘要
针对一类常见的积分加纯滞后的非自衡对象,采用一种二自由度PID控制器进行控制。该控制器具有设定值滤波器和调节器两个控制器,有2个可调参数,可以影响和改善控制系统的动态性能,结构简单,可调参数少,参数的调节方便、直观。通过仿真和在具有积分特性的空气球系统上的实验表明:这种控制器抗干扰能力强,在模型失配时仍然能保持良好的控制性能和鲁棒性。
In this paper,the two degree of freedom PID controller was adopted for a typical kind of the integral processes.This kind of controller contains two controllers: a set point filter and a regulator with two adjustable parameters that can influence and improve the dynamic performance of the control system.The structure is simple;tuning the parameters is easy and intuitive.The simulation research and experiments in B&R air ball system with integral character showed the two degree of freedom PID controller has good performance and robust stability under model-process mismatching and disturbances.
出处
《控制工程》
CSCD
北大核心
2013年第S1期206-208,217,共4页
Control Engineering of China
关键词
积分过程
二自由度PID
内模控制
integral processes
The two degree freedom PID control
Internal Model Control
