积分时滞对象的一种内模PID鲁棒控制方法  

An IMC-PID robust control method for process of integrator plus time delay

作　　者：侯明冬[1,2] 王印松[1] 田杰[3] 

机构地区：[1]华北电力大学控制与计算机工程学院,河北保定071003 [2]山东劳动职业技术学院电气及自动化系,山东济南250100 [3]山东女子学院信息技术学院,山东济南250100

出　　处：《山东大学学报（工学版）》2016年第5期64-67,共4页Journal of Shandong University（Engineering Science）

基　　金：华北电力大学中央高校基本科研业务费专项资金面上资助项目(2014MS152)

摘　　要：针对工业系统中常见的具有积分和时滞特性的过程对象,基于内模控制原理,将IMC-PID(internal model control-proportional integral derivative)控制器参数整定与鲁棒控制相结合,设计一种IM C-PID控制器参数的鲁棒整定方法。通过一阶环节逼近积分环节,采用泰勒公式逼近时滞项,推导得到IMC-PID控制器参数的设计公式。并基于鲁棒性能指标给出了简单的参数整定解析表达式,实现IMC-PID控制器的鲁棒整定。仿真结果表明,基于鲁棒性能指标的IMC-PID控制方法克服了常规方法中参数整定的盲目性,可使系统同时获得良好的动态响应性能和鲁棒性。For the integrated plus time delay in industrial system,a design and parameters tuning approach of internal model control PID（ IMCPID） controller was proposed. The integrator in the model was replaced by a first-order lag,the steady-state performance of the system was improved,the time-delay term in the model was approached with the first-order Taylor expansion,and the design method of IMC-PID controller was founded. The analytical expression for robust tuning the adjustable parameter of the IMC-PID controller was derived based on the robustness index of the control system. The simulation results showed that the proposed method could provide a better dynamic performance and robustness against parameters perturbation,and the blindness of conventional method for controller parameter tuning was overcome.

关 键 词：积分时滞对象 内模PID 鲁棒性 参数整定 动态响应 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]