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针对一般多变量解耦控制器将解耦与控制器分别设计所造成的误差问题,提出将内模解耦与控制器一起设计的多变量解耦内膜控制器设计方法。该方法让控制器同时扮演解耦补偿器和内模控制器的角色。首先通过解耦分析和稳态误差分析,使得控制器的设计过程不需要对模型进行降阶就可达到理想的控制效果,再详细推导控制器的设计,得到控制器设计的一般通式,保证了控制器的物理实现,同时增强了系统的鲁棒性。仿真结果表明,该控制器较一般的解耦控制器鲁棒性好,设计简单,是消除多变量系统的解耦过程与控制器设计之间误差的一种可行方法,且该方法已在燕山石化常减压项目得到应用,效果非常好。
Aiming at the error caused by the decoupling of the general multivariable decoupling controller and the design of the controller respectively, a multivariable decouple intimacyte controller design method combining decoupling of the internal model with the controller is proposed. This method allows the controller to act both as a decoupling compensator and an internal model controller. First of all, by decoupling analysis and steady-state error analysis, the controller design process can achieve the desired control effect without reducing the model, and then derive the controller design in detail, get the general formula of the controller design, guarantee The physical realization of the controller, while enhancing the system’s robustness. The simulation results show that the proposed controller has better robustness and simple design than the conventional decoupling controller and is a feasible method to eliminate the error between the decoupling process and the controller design of the multivariable system. Petrochemical atmospheric and vacuum projects have been applied, the effect is very good.