【摘要】 为了解决多变量时滞过程解耦器结构复杂且不能解析设计、控制器不易兼顾控制性能和鲁棒性的问题,提出一种新的解耦双自由度PID控制系统设计方法.针对时滞过程改进了Cai所提出的正则化解耦方法:从能量功率谱的角度重新解释并构造结构简单的解耦矩阵;将系统解耦成单回路后,采用双自由度PID结构设计各回路控制器.典型工业过程实例验证了设计的简单性和性能的有效性.采用该方法,解耦传递函数矩阵可以解析求解,双自由度PID控制器能够有效改善各回路高频段的解耦性能,获得良好的设定值跟踪性能和扰动抑制能力,并且可以方便地应用于控制现场.更多还原

【Abstract】 A novel design method for decoupling PID control system with two degrees of freedom(2DF) was proposed for multivariable process in order to solve the problems of the complex structure,the hard analytical design of the decoupler,and the difficult compromise between the control performance and the robustness of the controller.The method improved Cai’s normalized decoupling scheme.A decoupling transfer function matrix for long dead-time process was constructed on the viewpoint of power spectrum density.Then the PID controllers with 2DF were designed based on the decoupled single loops.A typical industrial example demonstrated the simplicity and effectiveness of design.The decoupling matrix can be analytically constructed,and the 2DF PID control scheme can improve the decoupling performance in high frequency domain with better set-point tracking and disturbance rejection.The method can be easily implemented in real control fields.更多还原