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针对工业过程典型对象,提出了一种基于失配模型的内模控制器的设计方法,通过继电辨识得到对象的低阶模型,并基于低阶模型设计内模控制器,使得无论对象阶次的高低,所设计的内模控制器始终具有简单结构。并利用Pade公式和泰勒公式推导出了相应的IMC-PID的解析表达式,便于工程应用。最后将方法与标准内模控制方法进行了比较,并分析了系统性能改善的原因。仿真结果表明,该方法可使系统同时获得良好的目标值跟踪性能、扰动抑制性能和对模型失配的鲁棒性。
Aiming at the typical object of industrial process, a design method of internal model controller based on mismatch model is proposed. The low-order model of the object is obtained through relay identification, and the internal model controller is designed based on the low-order model, The design of the internal model controller has always been a simple structure. And using Pade formula and Taylor formula to derive the corresponding IMC-PID analytical expression, easy to engineering applications. Finally, the method is compared with the standard internal model control method, and the reasons for the improvement of system performance are analyzed. Simulation results show that the proposed method can achieve good target tracking performance, disturbance rejection performance and robustness to model mismatch.