基于内模控制的互耦水槽建模与仿真

摘要

The structure and design process of Internal Mode Control (IMC) are simple, and it has only one adjusting parameter, which has clear relation with the dynamic quality and robustness of the system, therefore, IMC can improve the design level of PID controller. In this paper, a simple design method of IMC-PID is given, which is just originated from the basic structure of IMC. The control objects are simplified into a simple first-order plus delay model by using a single negative feedback loop system, then setting the required parameters of the controller to meet the control requirements. The simulation results based on MATLAB show that the controller has routine PID merit, good tracking performance, robust stability and dynamic, therefore, IMC method has broad applicability.%研究工业控制器稳定控制问题,内模控制(IMC)结构和设计简便,只有一个整定参数,参数调整与系统动态品质和鲁棒性的关系明确,采用IMC原理可以提高PID控制器的设计水平.为保证水槽系统的稳定性和跟踪性,从IMC的基本结构出发,提出了一种简单的IMC控制器设计方法,使用一个单负反馈回路系统,对控制对象化简成一个简单的一阶加延迟模型,然后整定出所需控制器的参数,以达到控制要求.通过MATLAB上进行仿真,结果表明,所设计的控制器具有常规PID的优点,且跟踪调节性能好,对水槽控制具有较好的鲁棒性和动态性,证明IMC法具有广泛的适用性.