多变量多时滞非方系统的解耦内模控制.docxVIP

第 59 卷 第 7 期 化 工 学 报 V ol 59 N o 7 2008 年 7 月 Journal o f Chemical Industry and Eng ineering ( China) July 2008 研究论文 多变量多时滞非方系统的解耦内模控制 要艳静, 王 晶, 潘立登 北京化工大学信息科学与技术学院, 北京 100029) 摘要: 多变量复杂控制系统不仅具有多耦合和多时滞性, 还具有结构上的复杂性, 即输入输出不等, 传递函数为奇异矩阵。传统的多变量内模控制是基于对非奇异对象求逆来进行的, 因此很难解决这类问题。针对该情况引入矩阵论中的广义逆概念, 通过求对象的广义逆矩阵来设计解耦内模控制器, 打破了内模控制只能对方系统进行控制的局限性, 并利用泰勒近似很好地解决了多滞后的问题, 最后通过设计特殊形式的滤波器, 不仅能够消除由纯滞后近似引入的不稳定极点, 保证系统的稳定性, 且能够保证系统的正则性。仿真结果表明, 该方法 不仅跟踪迅速, 且继承了内模控制的无余差和强鲁棒性, 动态解耦效果良好, 仅对时滞变化较为敏感。由于系 统基于内模控制设计, 故模型匹配度越高, 系统响应越好。 关键词: 非方系统; 广义逆; 解耦; 内模控制 中图分类号: T P 273 文献标识码: A 文章编号: 0438- 1157 ( 2008) 07- 1737- 06 Decoupling internal model control for mult-ivariable non-square system with time delays YAO Yanjing, WANG Jing, PAN Lideng ( College of I nf or mation Science and Technology , Beij ing University of Chemical Technology , Beij ing 100029, China) Abstract: A new decoupling internal m odel control ( IM C) m ethod w as proposed for the m ulti- variable no n- square systems w ith m ultiple time delay s by introducing the conception of g eneralized inv erse The tr aditional IMC based on the inverses of nonsingular matr ices w as co nfined to squar e systems, so the generalized inverse w as im po rted to desig n the internal model contr ollers by calculation in frequency dom ain T ime delays w ere approx imated by the T aylor ex pansion diag rams To g uarantee the stability and regular ity of system, special filters w ere designed to counteract unstable po les bro ug ht forth by the Taylo r approx im ation T he results show ed that w hen the m odel did no t m is- m atch badly , the output cur ves had less than 20% ov ershoot and almost zer o deviatio n from steady state T he output also had g ood performance abo ut dynamic deco upling , and m ultiple tim e delays co ntro l But the co ntro l system w as sensitiv e to the change of time delays Based on IM C system, the response w ould be better if the mo del matched m ore satisfactor ily . Key words: non-