不稳定时滞对象的最优鲁棒二自由度控制器解析设计

Analytical Design of Optimal Robust Two-degree-of-freedom Controller for Unstable Processes with Time Delays

针对不稳定时滞对象提出一种二自由度控制器解析设计方法.通过内模控制规律进行控制器设计,改进内模控制的滤波器提高系统的鲁棒性及其性能.同时对系统的稳定性、鲁棒性及性能进行分析,提出了严格基于模型信息的鲁棒指标选择规则,保证系统获得良好的鲁棒/性能平衡.最后,将控制器的参数整定转化为一个约束优化问题,提出控制器解析整定方法,并通过仿真实例验证该方法的有效性.

In this study,we analytically design a two-degrees-of-freedom（ 2-Do F） controller for unstable processes with time delays based on the internal model control（ IMC） principle. We also propose an enhanced IMC filter to improve the robustness and output performance of the controller. Based on our analysis of the system’s stability,robustness,and output performance,we propose a rule for selecting the optimal sensitivity function to achieve the best performance / robustness tradeoff. Finally,we formulate a method for controller tuning as a constraint optimization problem and propose an analytical tuning method. Simulation study results show the effectiveness of the proposed method.