基于模型完全动态延时逆的内模控制方法

Internal Model Control Method Based on Dynamic Delay Inverse of the Whole Model

针对常规内模控制中存在的缺点,提出了一种基于模型完全动态延时逆的内模控制方法,采用神经网络自适应滤波器对内部模型和完全动态延时逆进行在线学习和控制,取消低通滤波器的设计,以逆的延时时间的调整来提高系统的鲁棒稳定性,并把内模控制器的动态响应和扰动消除控制分开进行。理论分析和仿真实验表明,此方法对系统输入信号的跟踪响应具有很高的稳态精度和动态控制品质,对对象的扰动消除具有很好的效果,是一种新型、具有鲁棒稳定性的内模控制方法。

A kind of internal model control method based on dynamic delay inverse of the whole model is put forward for the disadvantages ex- isted in general internal model control.The adaptive filter from neural net is adopted to learn and control for internal model and dynamic delay inverse of the whole model online.The design for low-pass filter is cancelled and the delay time for inverse is adjusted to improve the robustness and stability of the control system.The dynamic response and disturbance canceling from internal model controller are designed independently. The theoretical analysis and simulation results show that the method has a good steady-state accuracy and dynamic control quality for input signal's tracking.It has good effect to cancel plant disturbance and is a new type internal model control method with the robustness and stability.