一类时滞系统内模控制器设计

A Class of Internal Model Controller Design for Time Delay Systems

针对时滞不确定性被控对象,引入灵敏度函数和滤波器设计内模控制器。利用控制理论中频域分析的方法对控制系统的鲁棒性能和品质性能进行分析,得出频域约束条件,整定内模控制器参数,使控制系统在满足闭环稳定的前提下,同时还满足性能指标的要求。仿真研究表明:该控制器与传统的Cohen-Coon和CHR控制方法相比具有较好的控制性能和鲁棒性,且调整参数少,适合于工程实际应用。

The problem of internal model control(IMC) design is discussed for time delay objects with model uncertainty.The controller is designed by using sensitivity function and filter.A method is proposed to tune IMC to guarantee the robust stability and robust performance by frequency domain analysis of linear systems.The conditions of robust stability and robust performance of the closeloop system are obtained.The simulation results show that the new method can improve the system stability compared with traditional methods,such as Cohen-Coon and CHR control methods.The internal model controller design method for a typical delayed uncertainty objects can be tuned easily.