自整定内模PID控制在非圆销孔加工中的应用

IMC Based Self-tuning PID Controller and Its Application in Noncircular Pinhole Machining

将工业过程控制方法用于微位移压电陶瓷驱动器控制,提出了一种自整定内模PID控制方法.该方法结合内模控制、PID控制和前馈控制,针对非圆销孔加工的特点,采用双环的控制结构,内环主要对控制对象进行等效,提高其动态性能;外环通过时间乘绝对误差的积分(ITAE)优化内模PID的整定参数.鲁棒性分析、仿真及实验表明,系统具有很强鲁棒性,能快速响应,在工作频率低于20 Hz时具有较好跟踪性能,达到了快速跟踪和减少滞环的目的.

Industrial-process control method was used for the piezoelectric translator （PZT） actuator and a new self-tuning internal model control （IMC） based PID control approach was presented. PID control, IMC and feed forward control are incorporated in the method. A double loop structure is employed according to the features of noncircular pinhole machining. ITAE is applied to optimize parameters of the IMC based PID controller after the equivalent transformation of the model is achieved and dynamic performance is improved in the inner loop. The analysis of robustness, simulation of the algorithm and experiment show that the controller is of great robustness, quick response and precision. Good tracking performance can be acquired when the work frequency is lower than 20Hz.