多变量时滞系统内模控制算法研究

发布时间：2018-05-08 18:36

本文选题：内模控制 + 时滞对象　；参考：《北京化工大学》2016年硕士论文

【摘要】：工业现场当中普遍存在着时滞环节,使得信息的反馈时间滞后,严重限制系统的控制效果；积分时滞对象如锅炉汽包水位控制,常见于现场中,积分项的存在使得负载扰动控制难度加大；多变量时滞系统中的耦合问题严重影响系统响应效果。针对以上问题,在本文中,详细讨论了内模控制原理以及其发展情况,针对常规的稳定被控装置和不稳定被控装置给出了基本的内模控制方案,并且给出系统响应性能指标IAE和系统鲁棒性指标Ms与内模滤波器可调参数之间的解析关系,为参数整定和调节提供理论依据,实现良好的控制。针对内模控制结构不能直接应用于不稳定对象的控制问题,同时兼具考虑系统的设定值跟踪,抗输入端负载扰动性能及系统鲁棒特性等,本文提出了一种新的改进的二自由度内模控制方案,采用内模控制原理,改进滤波器结构,解决了一类积分时滞系统的控制问题,并且详细地讨论了内模滤波器可调参数的稳定域,以及参数的调节对系统响应性能和鲁棒性能的影响。针对多变量时滞系统,本文重点分析了现阶段常用的解耦方法,着重研究了逆解耦控制,通过分析被控对象特征,界定逆解耦可实现条件。针对不满足可实现限制条件的对象,通过增添补偿项得到新的广义对象,再根据广义对象,进行内模控制器的设计与参数整定。同时,本文提出TDF(Two Degree of Freedom) PI控制器实现了设定值跟踪和负载扰动独立设计和分析,通过Ms值整定控制器参数,探讨了设定值权值变化对系统响应的影响,取得了多变量时滞系统良好的控制效果。
[Abstract]:In the industrial field, there is a delay link, which makes the information feedback time lag, which seriously limits the control effect of the system, and integral time-delay objects such as boiler drum water level control, common in the field, The existence of integral term makes it more difficult to control the load disturbance, and the coupling problem in the multivariable time-delay system seriously affects the response effect of the system. Aiming at the above problems, in this paper, the principle of internal model control and its development are discussed in detail, and the basic internal model control scheme is given for the conventional stable controlled device and unstable controlled device. The analytical relationship between the system response performance index (IAE) and the system robustness index (Ms) and the tunable parameters of the IMF is given, which provides a theoretical basis for parameter tuning and adjustment, and achieves good control. The internal model control structure can not be directly applied to the control of unstable objects, and it also takes into account the set value tracking of the system, the anti-disturbance performance of the input load and the robustness of the system. In this paper, a new improved internal model control scheme with two degrees of freedom is proposed. Using the principle of internal model control, the filter structure is improved and the control problem of a class of integral time-delay systems is solved. The stability region of the adjustable parameters of the IMF and the influence of the parameters on the response performance and robustness of the system are discussed in detail. For multivariable time-delay systems, this paper focuses on the analysis of the current commonly used decoupling methods, focusing on the study of inverse decoupling control. By analyzing the characteristics of the controlled object, the conditions for the realization of inverse decoupling are defined. A new generalized object is obtained by adding a compensatory term to the object which does not satisfy the realizable restriction condition. Then the design and parameter tuning of the internal model controller are carried out according to the generalized object. At the same time, this paper proposes that the TDF(Two Degree of Freedom) PI controller realizes the independent design and analysis of the set value tracking and the load disturbance. The influence of the change of the set value weight on the system response is discussed by setting the parameters of the Ms value controller. A good control effect is obtained for multivariable time-delay systems.
【学位授予单位】：北京化工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP273

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