【摘要】 内模控制是一种基于被控对象数学模型的新型控制器设计方法,所设计的控制器具有鲁棒性强、参数整定方便等优点,已经在一些工业场合中得到了应用。为了提高学生对于内模控制方法的理解水平,该文首先简要介绍了内模控制的基本原理和内模PID控制器设计方法,介绍了工业系统仿真器实验平台的构成,并推导了其数学模型的表达式,然后利用内模控制原理为其设计了鲁棒PID控制器,通过仿真软件进行了实验验证,结果证明了内模控制方法的有效性。更多还原

【Abstract】 The internal model control is a kind of novel control theory,which is based on model of the controlled object.The robustness of designed controller is strong and the procedure of parameter setting is convenient.It has been applied in some industrial situation.In order to improve the students’ understanding of the internal model control method,the principle of internal model control and the method of designing the internal PID controller are introduced briefly.Then,the hardware structure of industrial control system emulator is given and the mathematic model of industrial control system emulator is derived.For the equipment,the robust PID controller is designed,and tested by simulation software.Lastly,the simulation figures show the effectiveness of internal model control method.更多还原