改进的内模控制方法及其在非方系统中的应用

Modified internal model control and its application in non-square processes

针对工业过程中稳定的含有多时滞和右半平面零点的非方系统,提出一种改进的内模控制方法.通过添加补偿项来消除内模控制器中包含的不可实现因素,并在反馈回路中添加一阶滤波器以增强系统的鲁棒稳定性.同时,针对存在参数不确定性的被控过程,分析了保证控制系统鲁棒稳定的充分必要条件,给出了控制参数调节范围的解析计算式.最后仿真结果验证了该方法的有效性.

A modified internal model control （IMC） method for non-square processes with multiple time delays and right-half-plant zeros is proposed. By inserting compensated terms, the unrealizable factors of the derived controller are removed. A first-order filter is added to the IMC structure to improve the robustness of the control system. Meanwhile, the sufficient and necessary conditions for holding robust stability of the system are analyzed in the presence of parameters uncertainty. The low bounds of the control parameters are derived quantitatively to guarantee the robust stability of the system. Finally, simulation results show the effectiveness of the proposed control schemes.