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针对工业系统中普遍存在的积分时滞过程,提出了一种内模PID(比例-积分-微分)控制器设计及鲁棒整定方法.利用一阶环节逼近积分环节,改善了内模控制系统的稳态特性,在此基础上利用一阶泰勒表达式逼近过程模型中的时滞项,得出了内模PID控制器的设计方法,并根据最大灵敏度Ms指标,导出了对控制器可调参数进行鲁棒整定的解析表达式,克服了常规方法中参数整定的盲目性.仿真结果表明该方法可使系统同时获得良好的动态响应性能和鲁棒性.
Aiming at the integral integral time-delay process in industrial systems, an internal model PID (Proportional-Integral-Derivative) controller design and robust tuning method are proposed. By using the first-order approximation integral stage, the internal model control system Based on this, the first-order Taylor expression is used to approximate the delay term in the process model, and the design method of the inner model PID controller is obtained. Based on the maximum sensitivity Ms index, Which can overcome the blindness of parameter tuning in the conventional method.The simulation results show that this method can make the system get good dynamic response performance and robustness at the same time.