摘要
针对双输入双输出(TITO)时滞过程,根据内模控制(IMC)原理提出了一种新的解耦控制设计方法.通过在被控过程前串联其伴随矩阵实现了标称系统的完全解耦,解耦后各控制通道的等效模型均为原被控过程的行列式,因此各通道可采用同一形式的控制器.为了便于控制器的设计,基于最小时间乘以误差绝对值积分(ITAE)准则将等效广义过程模型简化为一阶加时滞的形式,导出了一种内模比例积分(IMC-PI)控制器,并基于最大灵敏度指标实现了控制器参数的鲁棒整定.仿真结果表明:该方法有效降低了多变量时滞过程控制器设计的复杂度,可使系统同时获得良好的动态响应性能和鲁棒性.
A novel decoupling control design method based on internal model control （IMC） principle was proposed for the two-input and two-output （TITO） process with time delay. The complete decou- pled nominal system could be achieved by inserting its adjoint matrix into the system before the con- trolled process. Resultantly, the equivalent model of each control channel could be expressed by the determinant of the original process, which leaded to the single controller design feasible for each chan- nel. In order to facilitate the design of the controller, the equivalent model of the process was simpli- fied into the form of the first order plus time delay based on the minimization of the integral of the time-weighted absolute error （ITAE） criterion. Then, the IMC-PI （proportional-integral） controller could be deduced, and the robust tuning of the controller parameter was realized based on the maxi- mum sensitivity specification. The proposed method could effectively reduce the complexity of the de- sign of the controller for the multi-variable process with time delay. Additionally, the simulation re- suits show that the proposed method can provide better dynamic performance and robustness.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2013年第9期53-56,共4页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
山西省自然科学基金资助项目(2012011027-4)
关键词
内模控制
解耦控制
双输入双输出
时滞过程
鲁棒性
灵敏度指标
internal model control
decoupling control
two-input two-output~ process with time-delay~ robustness~ sensitivity specification
