分数阶积分时滞过程的内模PID控制器整定方法

Tuning Method of IMC-PID Controller for Fractional Order Integrated Process with Time-delay

针对分数阶积分时滞过程,提出了一种内模PID控制器的设计与整定方法。将内模控制(internal model control,IMC)方法推广应用于分数阶系统,采用一阶泰勒级数逼近时滞环节,导出了一种分数阶内模PID控制器,该控制器仅有一个可调参数,且该参数与系统的动态响应特性及鲁棒性直接相关,并采用一种鲁棒性能指标实现了控制器参数的解析整定。仿真结果表明:分数阶内模PID控制器设计方法简单,参数整定方便,而且可使系统具有良好的目标值跟踪特性、扰动抑制特性以及克服参数变化的鲁棒性。

For the fractional order integrated process with time-delay, a design and tuning method of internal model control-PID(IMC-PID) controller is proposed in this paper. The method of internal model control is extended to the fractional order system, and the time-delay term of the model is approached with the first-order Taylor expansion. So, the design method of IMC-PID controller is founded. The proposed controller has only one adjustable parameter which is directly related to system dynamic performance and robustness. In addition, the analytical tuning of the IMC-PID controller parameters is realized based on the robustness specification. The simulation results show that the design method of the fractional order IMC-PID controller is simple and the tuning of the controller parameters is convenient. Furthermore, the proposed method could provide good performance of target tracking, disturbance rejection and robustness against the parameter perturbation.