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针对双输入双输出(TITO)时滞过程,根据内模控制(IMC)原理提出了一种新的解耦控制设计方法.通过在被控过程前串联其伴随矩阵实现了标称系统的完全解耦,解耦后各控制通道的等效模型均为原被控过程的行列式,因此各通道可采用同一形式的控制器.为了便于控制器的设计,基于最小时间乘以误差绝对值积分(ITAE)准则将等效广义过程模型简化为一阶加时滞的形式,导出了一种内模比例积分(IMC-PI)控制器,并基于最大灵敏度指标实现了控制器参数的鲁棒整定.仿真结果表明:该方法有效降低了多变量时滞过程控制器设计的复杂度,可使系统同时获得良好的动态响应性能和鲁棒性.
A new decoupling control design method is proposed according to the principle of IMC, which is based on the double input and double output (TITO) delay process. The complete solution of the nominal system is achieved by cascading its adjoint matrices before the controlled process The equivalent model of each control channel after coupling and decoupling is the determinant of the original controlled process, so each channel can adopt the same form of controller.In order to facilitate the design of the controller, based on the minimum time multiplied by the error absolute value integral ITAE) criterion simplifies the equivalent generalized process model into a first-order plus time-delay form. An IMC-PI controller is derived and the robust tuning of the controller parameters is achieved based on the maximum sensitivity index. The simulation results show that the proposed method can effectively reduce the complexity of the design of multivariable process controller with time-varying delays and achieve good dynamic response and robustness simultaneously.