基于阶跃跟踪响应的内模控制器性能评价、诊断与调节

Internal Model Controller Performance Assessment, Diagnosis and Tuning Based on Step Tracking Response

摘要: 对阶跃跟踪扰动下内模控制器（Internal Model Controller，IMC）的性能评价、诊断与调节方法进行了研究．采用绝对值误差积分（Integral of Absolute Error，IAE）和灵敏度（M_s）作为衡量系统跟踪性能和鲁棒性的指标，提出一种对IMC系统跟踪—鲁棒综合性能进行评价的方法．当系统性能不佳时，给出一种性能诊断方法，对参数调节不当和模型失配两种影响控制器性能的原因进行诊断．针对模型失配的情况，给出一种利用常规阶跃跟踪响应数据辨识模型参数的方法．

Abstract: Methods for performance assessment,diagnosis and tuning of IMC(internal model controller) are studied.Taking the integral of absolute error(IAE) and sensitivity(M_s) as indexes measuring the tracking and robust performance of the system,a method for assessing complex performance of tracking and robustness for the IMC system is given.For the poor performance case,a diagnosing method is given to justify the two reasons causing poor control performance: improper tuning or model mismatch.When there is a model mismatch,an identification method is suggested which is based on the routine data generated by the system's step tracking response.