【作者】 薛俊；

【导师】 石红瑞；

【作者基本信息】 东华大学 ， 控制科学与工程， 2015， 硕士

【摘要】 时滞系统作为复杂控制系统中的一个重要部分广泛存在于现代的工业中。由于时滞的存在，被控量不能及时反映系统所受控制作用，从而产生明显的超调量，调节时间变长，系统的稳定性变差，给控制系统的设计和控制带来了极大的困难。对于大时滞对象常规的PID控制无法获得满意的控制效果，内模控制是改善时滞系统控制过程品质极为有效的方法。内模控制结构和算法简单，在线调节参数少且调整容易，抗干扰能力强且鲁棒性优良，特别是应用于大时滞对象的控制时有着显著的优势。内模控制系统必须合理地进行设计，才能让它的优越性得到充分的发挥。本文首先对被控对象双容水箱的模型进行分析，选择了实验建模获取的模型的传递函数。控制方案均已内模控制为基础，比较了基本内模控制系统和带反馈滤波器的内模控制系统的性能，并做了改进研究，设计了IMC-PID、模糊补偿内模控制和模型参考自适应内模控制三种基于内模控制的改进型方案。使用Matlab工具对设计好基本内模控制、带反馈滤波器的内模控制、模糊补偿内模控制和模型参考自适应内模控制这几种方案方案分别进行仿真，仿真结果验证了内模控制在时滞对象上控制的优越性，而几种改进型的内模控制在模型失配时，有着更优异的控制性能。实验部分在THJ-1型现场总线过控制系统实验装置上完成。控制器为西门子S7-300PLC，编程是基于组态软件STEP7。使用梯形图语言编写程序，开发了相应的程序模块，将设计好的基本内模控制和带反馈滤波器的内模控制两种方案在实际的双容水箱设备中进行液位控制。使用监控组态软件WinCC设计监控程序对控制过程进行实时监控，观测实验结果。实验结果表明带反馈滤波器的改进型内模控制器基于其优越性，在模型不精确的情况下依然可以达到良好的控制效果。更多还原

【Abstract】 Time-delay system as an important part of the complex control system exists widely inmodern industry.Due to the time-delay,the controlled variable cannot reflect the effect of controlsystem in time,resulting in a significant overshoot,settling time becomes longer and the stabilityof the system deteriorates.It has brought great difficulties to the design of control system.For big time-delay object,the conventional PID controller has no ability to achieve thedesire performance.The internal model control（IMC） is an effective method to improve theprocess quality of time-delay system control.The structure and algorithm of internal modelcontrol is simple.The online regulation parameters are less and easy to adjust.IMC also has stronganti-interference ability and good robustness,especially with a significant advantage when appliedto control the big time-delay object. Internal model control system must be reasonably design tomake its superiority into full play.First on this paper analyzing the model of the controlled object， two-tank plant， andestablishing the mathematical model with the method of experimental modeling. All controlschemes have been based on internal model control.Comparing the performance between basicIMC system and IMC with filters feedback system. Doing some improvement research, designedthree kinds of improved schemes based on IMC，like IMC-PID,IMC with fuzzy compensator andIMC with model reference adaptive control(MARS).Simulating the designed four controlschemes by using Matlab tools.The simulation results validated the superiority of the IMCsystem.And the several improved IMC schemes have more excellent performance when the model mismatch.The experimental part in this paper has been done in THJ-1Fieldbus process controlequipment.The controller was SIEMENS S7-300PLC.Programming was based on configurationsoftware STEP7. Using ladder language implement the designed basic IMC scheme and IMCwith filters feedback system in actual two-tank equipment for liquid level control.Designing themonitoring program by monitoring configuration software WinCC to complete real timemonitoring of the control process. The experimental results show that IMC with filters feedbacksystem based on its advantages has good control effect when the system model was inaccurate.更多还原