二自由度内模控制抗扰及鲁棒性分析

Analysis of the Ability of Anti-disturbance and Robustness of 2-degree-freedom Internal Model Control

文章针对生产过程中常见的对象不精确及扰动或参数波动等情况,采用2自由度内模控制结构进行系统设计。通过内模前馈控制器及反馈滤波器设计来探讨内模控制结构如何有效提高控制系统的抗扰及鲁棒性能。然后使用Matlab仿真工具,实例设计反馈滤波器并在simulink下进行系统仿真,结果表明该二自由度内模结构设计方法可行,控制性能好,合理的滤波系数可保证系统具有良好的抗扰及鲁棒性能。

A 2-degree-freedom internal model control（IMC） system is designed in this paper with the plant imprecision or the parameters fluctuation of disturbance.The analysis of anti-disturbance and robustness is preceded after the design of feed-forward controller and feedback filter.And a simulation for a real system with simulink was made to verify the result.Which shows good performance for this 2-degree-freedom design and offer further prospect of engineering application for the simple controller design and fewer parameters with good ability of anti-disturbance and robustness.