Tornambe nonlinear robust controller and its parameter tuning method and system

Abstract

The invention relates to a method and system for parameter setting of a Tornambe type nonlinear robust controller as well as the Tornambe type nonlinear robust controller. The method comprises the following steps that: firstly, initial values of to-be-set parameters of the Tornambe type nonlinear robust controller are set, wherein values of other to-be-set parameters except k0 and k r-1 are 0; secondly, a controlled object is controlled and operated and whether the output of the controlled object is stable or not is determined; and if not, the k r-1 is adjusted until the output of the controlled object is stable; thirdly, whether an overshoot which the output of the controlled object responds to is in an expected range of a preset overshoot is determined; and if not, the k0 is adjusted until the overshoot which the output of the controlled object responds to is in expected range of the preset overshoot; and fourthly, the above-mentioned process is repeated until a performance index of the controlled object meets a preset expected performance index value. According to the invention, the efficiency of a parameter setting process of the Tornambe type nonlinear robust controller is improved; the method for parameter setting of the Tornambe type nonlinear robust controller is engineered; and the Tornambe type nonlinear robust controller can be applied to an actual industrial control process conveniently.

Description

technical field [0001] The invention relates to the field of industrial process control, in particular to a parameter tuning method of a Tornambe nonlinear robust controller, a parameter tuning system of a Tornambe nonlinear robust controller, and a Tornambe nonlinear robust controller device. Background technique [0002] In the current industrial process control, PID (Proportion-Integration-Differentiation) regulating controller and improved PID controller have been widely used in actual industrial control due to their advantages of simple structure, convenient design, and relatively good effect. But it still has some problems. First, the rapidity and accuracy cannot be well unified. For an actual system, it is often hoped that under the action of the controller, the control goal can be achieved "fast and well", but the PID controller is contradictory on this point. If speed is prioritized, it will cause a large overshoot in the control result, making the accuracy index ...

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Problems solved by technology

[0006] Based on this, it is necessary to solve the problem of slow response speed of the existing Tornambe nonlinear robust controller, to provide a parameter tuning method of the Tornambe nonlinear robust controller and a parameter tuning method of the Tornambe nonlinear robust controller. Tuning system and a Tornambe nonlinear robust controller to improve the response speed of the Tornambe nonlinear robust controller, so that the Tornambe nonlinear robust controller can be applied in actual industrial control and facilitate the design of industrial control accomplish

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