一种时滞过程内模PID控制器鲁棒整定方法

A Robust Tuning Method of Internal Model PID Controller for Process with Time-delay

针对典型的一阶时滞(FOPTD)、二阶时滞(SOPTD)以及一阶时滞积分(FODI)过程,提出了一种简便的内模PID控制器设计和参数整定方法.利用一阶泰勒级数逼近系统模型的时滞项,导出内模PID控制器参数表达式,且仅有一个可调参数β,该可调参数与系统的动态性能和鲁棒性直接相关.基于控制系统的鲁棒性能指标给出了控制器可调参数β进行鲁棒整定的解析表达式.仿真结果表明,该方法可使系统同时获得良好的设定值跟踪特性、扰动抑制特性和克服参数变化的鲁棒性.

A simple design and parameters tuning approach of IMC-PID（internal model control PID） controller for the typical first order plus time-delay（FOPTD）,second order plus time-delay（SOPTD） and first order delay integrating（FODI） processes is proposed.The time-delay term in the system model is approximated by using the first-order Taylor series.So, the expressions of the IMC controller parameters are deduced,and they have only one adjustable parameterβwhich is directly related to system dynamic performance and robustness.In addition,the analytical expression for robustly tuning the adjustable parameterβof the controller is derived based on the robustness index of the control system.The simulation results show that the proposed method provide a better performance of the command value tracking,disturbance rejection and robustness against parameters perturbation.