摘要
Internal model control （IMC） yields very good performance for set point tracking, but gives sluggish response for disturbance rejection problem. A two-degree-of-freedom IMC （2DOF-IMC） has been developed to overcome the weakness. However, the setting of parameter becomes a complicated matter if there is an uncertainty model. The present study proposes a new tuning method for the controller. The proposed tuning method consists of three steps. Firstly, the worst case of the model uncertainty is determined. Secondly, the parameter of set point con- troller using maximum peak （Mp） criteria is specified, and finally, the parameter of the disturbance rejection con- troller using gain margin （GM） criteria is obtained. The proposed method is denoted as Mp-GM tuning method. The effectiveness of Mp-GM tuning method has evaluated and compared with IMC-controller tuning program （IMCTUNE） as bench mark. The evaluation and comparison have been done through the simulation on a number of first order plus dead time （FOPDT） and higher order processes. The FOPDT process tested includes processes with controllability ratio in the range 0.7 to 2.5. The higher processes include second order with underdarnped and third order with nonminimum phase processes. Although the two of higher order processes are considered as difficult processes, the proposed Mp-GM tuning method are able to obtain the good controller parameter even under process uncertainties.
内部模型控制(IMC ) 为集合点追踪产出很好的性能，但是为骚乱拒绝问题给懒惰反应。two-degree-of-freedom IMC (2DOF-IMC ) 被开发了克服软弱。然而，如果有一个无常模型，参数的背景成为一件复杂的事。现在的学习为控制器建议一个新调节方法。建议调节方法由三步组成。第一，模型无常的最糟的盒子是坚定的。第二，集合点控制器使用的参数最大的山峰(Mp ) 标准被指定，并且最后，骚乱拒绝的参数控制器使用获得边缘(美国通用汽车公司) 标准被获得。建议方法作为调节方法的 Mp 美国通用汽车公司被表示。调节方法评估了的 Mp 美国通用汽车公司并且与作为凳子标记调节节目(IMCTUNE ) 的 IMC 控制器相比的有效性。评估和比较加死了的时间(FOPDT ) 和更高的顺序过程在很多第一份订单上通过模拟被做了。测试的 FOPDT 过程在范围与可控制性比率包括过程 0.7 ～ 2.5。更高的过程包括第二份订单与欠阻尼并且有 nonminimum 阶段过程的第三份订单。尽管二更高的顺序进程被认为进程同样困难，调节方法的建议 Mp 美国通用汽车公司能甚至在进程无常下面获得好控制器参数。
基金
Supported by Postgraduate Fellowship of UMP,Fundamental Research Grant Scheme of Malaysia(GRS070120)
Joint Research Grant between Universiti Malaysia Pahang (UMP) and Institut Teknologi Sepuluh Nopember (ITS) Surabaya
