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针对时滞光电跟踪提出了一种内模PID(IMC-PID)控制器设计与参数整定的解析方法。首先建立了系统的一阶时滞积分(FODI)模型,并用二阶加时滞(SOPDT)模型进行逼近,然后利用一阶Taylor表达式代替系统模型中的时滞项,导出了控制器参数的整定规则。特别是为了保证系统的鲁棒性,可以根据最大灵敏度解析计算内模PID控制器的可调参数λn。仿真结果表明,与常规方法相比,所提方法不仅提供了较好的设定值跟踪和扰动抑制特性,而且对于系统参数摄动具有更好的鲁棒性。另外,实验结果也证实了该方法能够提高系统跟踪性能和跟踪精度。
Aiming at the time delay optoelectronic tracking, an analytical method of the design and parameter tuning of an internal model PID (IMC-PID) controller is proposed. Firstly, the first order delay integral (FODI) model of the system is established and approximated by a second order additive time delay (SOPDT) model. Then the first order Taylor expression is used to replace the delay term in the system model, and the controller parameters Set rules. Especially in order to ensure the robustness of the system, the tunable parameter λn of the inner model PID controller can be calculated and calculated according to the maximum sensitivity. The simulation results show that compared with the conventional method, the proposed method not only provides better setting tracking and disturbance rejection characteristics, but also has better robustness to system parameter perturbation. In addition, the experimental results also confirmed that this method can improve the system tracking performance and tracking accuracy.