摘要
针对三容实验系统液位的控制,介绍了三容液位过程内模控制系统的设计和实现。提出了一种内模PID(Internal Model Control-PID,IMC-PID)控制方法。建立了被控对象的数学模型,对数学模型进行理论推导,建立系统的状态矩阵方程,对模型进行近似处理。将三阶系统等效为一阶系统。为了使系统可实现,设计控制器时增加了一个一阶滤波器。并依据内模控制原理设计控制器,并且在内模控制的理论基础上设计了内模PID控制器,在Matlab/Simulink中分别搭建了此两个系统的数学模型,并进行仿真实验。对内模控制(IMC)和内模PID(IMC-PID)两种控制器控制结果进行对比分析。实验结果表明,内模控制器结构简单,可调参数少。内模PID参数调整方便,能有效地改善系统的性能。
According to the three-tank experimental system of liquid level control, the design and implementation of the Internal Model Control system within the process of the three-tank liquid level is introduced. Internal Model-PID （Internal Model Control-PID, IMC-PID） control method is put forward. The mathematical model of the controlled process is established. This paper deduces mathematical model by theoretical way and establishes of the system state matrix equation. The model was treated approximately. The third-order system is equivalent to the first order system. In order to make the system can be realized, the controller is designed to increase the first-order filter. Based on the internal model control theory, the controller is designed. And the internal model PID controller is designed based on the inner model control theory. The mathematical model of this two systems are constructed and simulated in Matlab/Simulink. The results of The internal model control （IMC） and internal model PID （IMC-PID） are comparatively analyzed. The experimental results show that the controller is simple, less adjustable parameters and the internal model PID parameters are easy to adjust and it can effectively improve the performance of the system.
出处
《控制工程》
CSCD
北大核心
2016年第1期59-63,共5页
Control Engineering of China
关键词
三容实验系统
内模控制
内模PID
系统性能
Three-tank experimental systems
internal model control
MIC-PID
system performance
