二阶不稳定时滞对象PID控制器的解析设计

Analytical Design of PID Controller for Unstable Second Order Plus Time Delay Process

针对一类二阶不稳定时滞系统,基于改进内模控制结构提出了两自由度控制方案。采用直接合成法思想设计设定值跟踪控制器,根据期望闭环补灵敏度方法确定扰动抑制控制器。所有控制器都采用解析比例-积分-微分设计方法,可实现单参数调节和优化,便于工程实施。对系统的内稳定性和鲁棒性进行了分析,并通过仿真实例验证了控制方案的有效性。

A two-degree-of-freedom control structure is proposed for unstable second order plus time delay process based on modified internal model control. The setpoint tracking controllers are designed using the direct synthesis method, and the disturbance rejection controller is designed by the desired closed-loop complementary sensitivity function. All the controllers are designed analytically in proportion-inteqration-defferentiation form, and can be adjusted and optimized by single parameter, so it if fit for engineering application. The internal stability and robust stability of the system are analyzed, and simulation example demonstrates the validity of the proposed control scheme.