非整数阶时滞过程的两自由度分数阶内模控制器设计

摘要

将具有两个自由度的分数阶内模控制器应用于非整数阶时滞过程的控制中,克服了单自由度PID控制器不能同时具备最佳的设定值跟踪特性和扰动抑制特性的不足.采用一阶泰勒级数逼近时滞环节,基于截止频率和相位裕度实现控制器其中一个参数的解析整定,使闭环系统具有良好的鲁棒性,并根据系统的动态特性来调整控制器的另一个参数.该方法能够实现系统鲁棒性和动态特性的解耦,增强了系统的目标值跟踪特性、抗干扰能力及鲁棒性.%For the non-integer order process with time-delay,a design and tuning method of two-degree-of-freedom fractional internal model controller is proposed.This method can over the disadvantages of single-degree-of-freedom PID controller that can not achieve the best perform-ance of the command tracking characteristic and disturbance rej ection characteristic at the same time.The time-delay term of the model is approached with the first-order Taylor expansion.The analytical tuning of one parameter is realized based on the cutoff frequency and the phase margin to make the system have strong robustness,and the other controller parameter is selected accord-ing to the dynamic performance.The proposed method can realize decoupling of robustness and dynamic performance of the system,and provide good performance of target tracking,disturb-ance rej ection and robustness.