双输入双输出时滞过程解耦内模控制

摘要

A new design method of decoupling internal model control is proposed for TITO time-delay open loop stable processes. With no static errors, the ad-joint matrix of the process transfer function and the inversion of the minimum phase part of the diagonal elements of the process transfer function are used to design the decoupling internal model controller. It simplifies the design of the de-coupling internal model controller and the treatment of multiple time delays conveniently. The internal model controller for a process is designed and simulated. The validity of the method is substantiated by comparison, and it shows strong decoupling capability and robustness even if the process model does not match the process exactly.%针对双输入双输出滞后开环稳定过程,提出了一种新的解耦控制器设计方法。该方法在保证稳态误差为零的基础上,利用过程传递函数矩阵的伴随矩阵和过程传递函数矩阵对角主元素的最小相位部分逆的乘积来设计解耦控制器,简化了解耦控制器的设计和多时滞问题的处理。利用该方法针对一实例进行了解耦内模控制器设计和仿真研究,通过比较证实了该方法的有效性,并且在过程模型和过程失配时仍具有较强的鲁棒性和较好的解耦性能。