基于相位裕度和幅值裕度的IMC-PID整定方法

Tuning of IMC-PID Based on Phase Margin and Gain Margin

提出了一种新的内模PID转换方法,得到了解析PID控制器参数。本方法以相位裕度为稳定性指标,通过数学推导证明了内模控制系统固有的相对稳定性范围。并且在内模PID转化过程中,没有应用任何近似方法来处理内模控制器中的非线性部分。另外,针对高阶过程,采用两点法建模来替代高阶过程,进而使系统取得精确的稳定裕度。通过将提出的控制器应用于二阶、三阶、高阶过程控制器系统中,证明了提出的解析PID控制器取得与内模控制器相同的控制效果。

The paper proposed a novel IMC-PID transformation method and obtained the analytical parameters of PID controller.In this method,the relative stability of the internal model control system is proved by mathematical derivation.Besides,there was nothing approximation method used to deal with the nonlinear part of the internal model controller.In addition,as for the high order process,the paper used the two point method to replace the higher order process,and then the system can obtain accurate stability margin.It was proved that the proposed PID controller achieved the same control effect as the internal model controller by applying the proposed controller to two order,three order and higher order process control systems.