基于速度模型的改进内模控制算法

The Improved Algorithm of Internal Model Control Based on the Velocity Model

对非线性动态系统采用速度线性化方法建立全局的线性模型,速度模型的线性参变(LPV)系统由输入和输出的信息来描述,而稳态信息由偏差来表示。针对速度模型的内模控制(IMC)不能有效消除线性参变模型稳态误差的问题,提出了一种改进结构的内模控制器,以实现零稳态误差。此方法可应用于具有强非线性pH值的中和过程,仿真结果表明该方法的有效性。

By adopting velocity linearization method, the global linear model is established for nonlinear dynamic system; the linear parameter variation （ LPV ） system of velocity model is described by input and output information ; while the stable information is expressed by deviation. Since internal model control （ IMC ） of velocity model cannot effectively eliminates the stable error of linear parameter variation model, an internal model controller with improved structure is proposed to realize zero stable error. The method can be applied in neutralization process with severe nonlinear pH feature. The result of simulation shows the effectiveness of this method.