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针对分数阶系统,提出了一种分数阶内模PID(proportional-integral-derivative)控制器设计方法.首先基于最小二乘原理将复杂的分数阶模型进行简化处理;然后将内模控制器设计方法扩展到分数阶系统,根据简化模型设计了分数阶内模PID控制器,该控制器仅有一个可调参数;根据最大灵敏度(Ms)指标,实现了控制器参数的鲁棒整定.仿真结果表明,所提模型的简化方法简单有效.基于简化模型设计的控制器不仅可以克服分数阶PID控制器参数整定复杂的不足,还可以使系统获得良好的跟踪特性、扰动抑制特性和鲁棒特性.
Aiming at the fractional order system, a fractional-order proportional-integral-derivative controller design method is proposed. First, the complex fractional order model is simplified based on the least square principle. Then, the design method of the inner model controller Scale fractional order PID controller is designed according to the simplified model. The controller has only one adjustable parameter. According to the maximum sensitivity (Ms) index, a robust tuning of the controller parameters is achieved. The simulation results show that , The simplified method of the proposed model is simple and effective.The controller based on the simplified model design can not only overcome the complexity of parameter setting of fractional PID controller but also make the system obtain good tracking characteristics, disturbance rejection characteristics and robustness.