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针对内模原理对时滞系统控制的局限性,利用一阶秦勒级数逼近模型的时滞部分,推导了工业上常见的一阶时滞和二阶时滞模型的内模控制参数表达式,结合ITAE指标和系统鲁棒性设计了新的目标函数,通过对目标函数的寻优实现了内模控制器参数的整定。仿真结果表明,该方法具有较好的动态跟踪性能、较强的抗干扰性和鲁棒性,具有一定的工程应用价值。
Aiming at the limitation of time-delay system control based on internal model principle, the internal model control parameter expressions of first-order and second-order time-delay models are deduced by using the first order Qinler series approximation model’s time delay. , A new objective function is designed based on the ITAE index and system robustness. The tuning of the inner model controller parameters is achieved by optimizing the objective function. Simulation results show that this method has good dynamic tracking performance, strong anti-interference and robustness, and has certain engineering application value.