摘要
基于传统的解耦方法和内模控制理论,提出一种采用单位反馈结构的PID/PI解耦控制器的解析设计方法,通过适当地添加补偿项,消除控制器中可能包含的不稳定因素,使得这种新型的解耦控制策略适用于含有多时滞和右半平面零点的双输入双输出系统.该方法克服了现有数值化求解方法的局限性,可在线调节解耦控制器的控制参数,使系统达到较好的动态性能和鲁棒性能.同时,对于存在乘性不确定性的被控过程,分析了控制系统满足标称性能和鲁棒稳定性的充要条件,并由此确定出控制器参数的调节范围.将这种新型的解耦控制策略应用在四容(阶)水箱试验中,仿真验证了其优越性.
Based on conventional decoupling structure and internal model control （IMC） theory, this paper proposed a new analytical PID/PI decoupling control method with unity feedback structure. By inserting compensated terms, the proposed decoupling scheme can be applied to the two-inputs-two-output （TITO） processes with multiple time delays and right half plant zeros. The proposed control scheme overcomes the deficiency of existing methods based on numerical calculation. By on-line tuning the controller parameters, the better nominal performance and robust stability of the closed-loop system can be realized. Meanwhile, sufficient and necessary conditions for holding the control system nominal performance and robust stability were analyzed in the presence of the process multiplicative uncertainty, and consequently, the tuning range of the controller parameters was obtained. Employing the novel decoupling control scheme to the experimental 4-Tank system, the simulation demonstrates the superiority of the proposed method.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2007年第5期778-782,共5页
Journal of Shanghai Jiaotong University
基金
国家自然科学基金资助项目(60474031)
新世纪优秀人才支持计划项目(04-0383)
上海市科技启明星项目(04QMH1405)
关键词
解耦
PID/PI控制器
解析
双输入双输出系统
decoupling
PID/PI controller
analytical
two-inputs-two-output （TITO） processes
