Controller with double-closed-loop structure for controlling unstable lag object

Abstract

The present invention provides a controller with a double-closed-loop structure for controlling an unstable lag object. The double-closed-loop structure is formed by primary and secondary controllers. The secondary controller is a PD controller which is in an inner loop feedback loop and is used for stabilizing the unstable lag object and eliminating an unstable pole. The main controller is a combined integral controller which is in an outer loop forward loop and is used for eliminating the influence of input disturbance and allowing a control system to reach a specified dynamic performance index. According to the controller provided by the invention, the disadvantages in the prior art are overcome, the double-closed-loop structure formed by the combined integral controller and the PD controller is used, the controller has the advantages of a simple structure, few adjustable parameters and convenient and intuitive parameter adjustment. Under a nominal model, the output of the system is stable and has no overshoot, and the influence of interference can be effectively suppressed. When the model is mismatched, the controller still has good control performance and robust stability.

Description

technical field [0001] The invention relates to a controller with a double-closed-loop structure for controlling unstable lagging objects, and belongs to the technical field of automatic control systems. Background technique [0002] In process control, there is a class of open-loop unstable processes, which have no equilibrium state, such as continuous stirring reactors. At the same time, there are hysteresis phenomena in the measurement and control loops of process variables, so it is difficult to control such unstable time-delay objects. In recent years, some scholars have proposed various parameter tuning algorithms for PID control of unstable objects, and achieved certain control effects. However, these PID tuning algorithms are designed for one or several control performance indicators, and it is difficult to satisfy the robustness and anti-interference performance of the control system at the same time, so there are certain limitations. [0003] In order to improve ...

AI Technical Summary

Problems solved by technology

But this method has the following defects: the structure of the controller is relatively complicated, which is not conducive to the implementation of actual projects, and the design of the controller requires complex theory, which increases the difficulty of practical application

Images