一类二输入二输出大时滞对象的解耦内模控制器设计

Designing of decoupled internal model controller for two-input-two-output plant with long delay

针对一类二输入二输出大时滞对象,通过构造解耦器,使控制系统简化为两个独立的控制回路,实现每个独立控制回路的控制器设计.解耦后的回路模型为复杂的高阶大时滞对象,通过分析频域特性,利用降阶技术对解耦模型进行降阶;根据降阶模型分别设计每个独立回路的内模控制器,以提高控制系统的鲁棒性和稳定性.仿真结果表明,该方法能够有效地实现二输入二输出大时滞对象的定值跟踪响应,且控制系统具有良好的鲁棒性和稳定性.

A newly designed decoupler can simplify complex system into two independent control loops for two-input-two-output(TITO)plant.The frequency analysis is adopted to reduce the order of the decoupled loop model,on basis of which the controller is designed for each loop.This method can improve the robustness and stability of the control system.Result shows that the proposed controller of TITO plant with long delays for set-point response is effective and feasible.