一种分数阶内模TI^λD^μ控制器设计方法

Design Method for Fractional Internal Model TI^λD^μ Controller

针对整数阶、分数阶被控对象,提出了一种分数阶内模TI^λD^μ控制器的设计方法.首先对原被控模型进行降阶处理,得到二阶分数阶延时系统模型.然后将内模控制思想引入到降阶模型,设计内模控制器GIMC（s）.最后将GIMC（s）与所提的新型TI^λD^μ控制器进行参数对照,能够清晰地得出参数间的对应关系,从而得出分数阶TI^λD^μ的各参数.仿真结果表明,TI^λD^μ控制器能够获得良好的控制品质和鲁棒性.

We propose a design method for the controller of the fractional internal model（ IMC） for the integer system and the fractional order system. Firstly,we reduce the order of the original fractional model to obtain a delay time model of the second fractional order. Then we introduce the principle of the IMC into the reduced order system,and design the IMC controller. Finally,we compare the parameters of the with those of the proposed controller,which show the corresponding relationship of the parameters clearly. Based on the comparison,we can get the parameters of controller. Simulation results show that controller has good control quality and robustness.