一种新的直流调速系统分数阶内模PID控制方法  

A New Fractional-order Internal Model PID Control Method for DC Speed Regulation System

作　　者：张宇 赵志诚[1] 刘宁 李明杰[1] ZHANG Yu;ZHAO Zhicheng;LIU Ning;LI Mingjie(School of Electronic Information Engineering Taiyuan University of Science and Technology,Taiyuan 030024,China;Shanxi Information Industry Technology Research Institute Co.,Ltd,Taiyuan 030012,China)

机构地区：[1]太原科技大学电子信息工程学院,太原030024 [2]山西省信息产业技术研究院有限公司,太原030012

出　　处：《火力与指挥控制》2025年第3期56-61,70,共7页Fire Control & Command Control

基　　金：国家自然科学基金(62003077);山西省科技成果转化引导专项基金(202204021301059);中央引导地方科技发展基金(YDZJSX20231A047);优秀来晋博士科研基金资助项目(20232097)。

摘　　要：针对直流调速系统,提出了一种新的基于内模控制的分数阶PID控制器设计方法。根据直流伺服电机的动态数学模型,将IMC与分数阶微积分相结合,设计了一种分数阶内模PID(FO-IMC-PID)控制器,与传统的分数阶PID控制器相比,所设计的仅包含3个可调参数,有效地简化了控制器结构。另外,基于幅值准则、相位裕度和平相位等鲁棒性设计准则,建立了控制器参数与系统性能指标间的非线性方程组,并给出了控制器参数优化求解方法,仿真和实验结果验证了所提方法的有效性和优越性。A fractional-order PID control method for the DC speed regulation system based on the internal model control(IMC)is proposed.According to the dynamic mathematical model of a DC servo motor,a fractional order internal model PID(FO-IMC-PID)controller is devised by integrating IMC with fractional calculus.In contrast to the conventional fractional order PID controller,this newly proposed controller streamlines its structure by incorporating only three adjustable parameters,the proposed method can effectively simplify the controller structure.Additionally,based on the amplitude criterion,the phase margin,the flat phase and other robust design criteria,a non-linear set of equations is established between controller parameters and system performance metrics,an optimization methodology for solving controller parameters is provided.The effectiveness and the superiority of the proposed method are verified through the simulation and the experiment results.

关 键 词：分数阶PID控制器 直流调速系统 内模控制 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]