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多变量常规分散PID(proportional-integral-differential)控制系统设计的首要工作是进行常规控制系统的结构设计,即对被控变量和操纵变量进行配对。该文在相对增益阵的基础上,充分利用过程频域动态信息,提出了一种控制回路配对的频域方法。首先提出相对频率增益的概念,将其定义为特定输入输出通道的开环频率增益和闭环频率增益之比。然后通过在整个频率范围内计算相对频率增益与(1,j0)点的平均距离导出特定输入输出通道的耦合衡量系数。最后基于耦合衡量系数矩阵提出一种控制回路配对准则,应用该准则进行常规控制系统的结构设计。通过实例分析表明:与基于时域信息的相对增益阵及其改进方法相比,本文配对方法不但能获得正确的配对结果,而且简单有效,易于处理纯滞后过程、积分过程和不稳定过程。
The primary task in the design of a multivariable proportional-integral-differential PID control system is to design the structure of a conventional control system, ie pairing controlled variables and manipulated variables. Based on the relative gain array, this paper makes full use of the dynamic information in the frequency domain and proposes a frequency domain method to control the pairing of circuits. First, the concept of relative frequency gain is proposed, which is defined as the ratio of open-loop frequency gain to closed-loop frequency gain of a particular I / O channel. The coupling metric for a particular I / O channel is then derived by calculating the average distance between the relative frequency gain and the (1, j0) point over the entire frequency range. Finally, based on the coupled measurement coefficient matrix, a control loop matching rule is proposed, which is applied to the structural design of the conventional control system. The case study shows that compared with the relative gain matrix based on time-domain information and its improved method, the pairing method can not only obtain the correct pairing result, but also is simple and effective, and can handle the pure hysteresis process, the integral process and the unstable process easily.