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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。
Aiming at the fractional integral time-delay process, a method of designing and tuning an inner-model PID controller is proposed. The internal model control (IMC) method is extended to the fractional order system, and the first-order Taylor series is used to approximate the time-lapse. A fractional order PID controller is derived, which has only one adjustable Parameters, and the parameters are directly related to the dynamic response characteristics and robustness of the system, and a robust performance index is used to achieve the resolution of the controller parameters. The simulation results show that the fractional order model PID controller has a simple design method and easy parameter tuning, and it can make the system have a good target tracking characteristics, disturbance rejection characteristics and overcome the robustness of parameter changes.