多变量过程二自由度控制器的设计

Design of Two-Degree-of-Freedom Controller for Multivariable Processes

针对多变量过程,提出了一种二自由度控制器的设计方法。首先基于静态解耦的思想构造广义被控过程,通过对其传递函数矩阵主对角线上元素的幅频和相频特性的分析,获得简化的一阶加时滞模型,并设计二自由度内模控制器,然后利用二自由度的结构变换和Pade近似,将其分别等效为超前滞后校正器和含有滤波器的PID控制器,最后根据最大灵敏度实现PID控制器的参数整定。仿真结果表明：该设计方法简单、易于实现,可使系统具有良好的动态特性和鲁棒性。

For multivariable processes, a design of two-degree-of-freedom （2DOF） controller is proposed. Firstly, generalized controlled processes are constructed based on the static decoupling, by analyzing the amplitude-frequency and phase-frequency characteristics of the transfer function main diagonal elements, the model is reduced to a first-order model with time-delay, and a two-degree-of-freedom controller is designed. Then according to the structure transformation of two-degree-of-freedom control and the Pade approximation, the controller is equivalent to a lead-lag corrector and a PID controller with a filter. Lastly, the tuning of the PID controller parameter is realized based on the maximum sensitivity specification. The simulation results show that the proposed method is simple and easy to achieve, and can provide a better dynamic performance and robustness.