摘要
An IMC-PID controller was proposed for unstable second-order time delay system which shows the characteristics of inverse response(RHP zero). A plot of Ms versus λ was suggested to calculate the suitable tuning parameter λ, which provides a trade-off between performance and robustness. Six different forms of process models were selected from literature to show the applicability of the present method. Performance of controller was calculated by ITAE and total variation TV and compared with recently published tuning rules. Undesirable overshoot was removed by using a set-point weighting parameter. Robustness was tested by introducing a perturbation into the various model parameters and closed-loop results show that the designed controller is robust in the case of model uncertainty. The proposed method shows an overall better closed-loop response as compared to other recently reported methods.
针对不稳定二阶时滞系统,提出了一种具有逆响应(RHP零)特性的IMC-PID控制器。通过Ms和λ图计算合适的调优参数λ,使性能和鲁棒性之间达到平衡。从文献中选取了六种不同形式的过程模型,说明了该方法的适用性。通过ITAE和总变差TV计算控制器的性能,并与最近发布的调优规则进行比较。通过使用设置点加权参数来消除不必要的超调。通过对各模型参数进行摄动,验证了控制器的鲁棒性。闭环控制结果表明,所设计的控制器在模型不确定性条件下具有较强的鲁棒性。与其他最近报道的方法相比,该方法具有更好的闭环响应。
基金
India (MHRD, India) for providing financial support
