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内模控制方法因具有诸多优点而引起了业界的广泛关注,但难以在DCS中直接实现,现有的IMC-PID设计方法存在着只针对特定模型才能设计或通用设计但近似程度偏低的问题,提出了一种新的IMC-PID控制器设计方法,采用一般形式的Pade多项式逼近IMC-PID转化过程中出现的复杂项,然后对照该Pade多项式和PID控制器表达式设计PID控制器参数。该方法广泛适用于各种单变量对象,也能够毫无修改地应用于多变量系统的IMC-PID控制器参数设计。与基于M ac laurin展式的IMC-PID设计方法相比,该方法提供了具有更强理论依据的微分滤波时间常数计算式,能够获得与内模策略更为接近的控制效果。
The internal model control method has attracted wide attention in the industry because of its many advantages, but it is difficult to realize directly in the DCS. The existing IMC-PID design method only has to be designed for a specific model or can be designed in a universal way but has a low degree of approximation , A new design method of IMC-PID controller is proposed. The general form of Pade polynomial is used to approximate the complex items in IMC-PID conversion process. Then, PID controller parameters are designed according to the Pade polynomial and PID controller expression. This method is widely applicable to a variety of univariate objects and can be applied to parameter design of IMC-PID controller without modification in multivariable systems. Compared with the IMC-PID design method based on Maglaurin expansions, this method provides a more theoretical formula for calculating the time constant of differential filtering, and can achieve the control effect that is closer to the internal model strategy.