Design of Robust Controllers with Simple Structures for Stable, Integrating and Unstable Processes

本論文針對各種穩定、積分及不穩定程序動態，提出一控制器設計法，可藉由給定欲得之閉環響應，輕易獲得具有簡單結構的強健控制器(PI、PID或高階型式)。一般而言，雖然高階控制器可達成較佳的控制性能，但其強韌性卻較差，而且傳統的增益和相位邊距指標常無法偵測出此現象。因此，本文提出一強韌性指標來取代傳統的增益邊距，最佳強健控制器即可在相位邊距和此指標的不等式限制下，透過將負載擾動產生之特定誤差積分最小化來取得。同時透過對控制演算法的巧妙調整，可讓該控制器在處理設定點改變時，亦能產生具有低超越量之快速應答。

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並列摘要

A method is presented to design a robust controller for a wide range of stable, integrating and unstable process dynamics. The controller with a simple structure can be a PI, PID or higher-order type, whose parameters are determined simply by specifying the desired closed-loop response. However, the design of high-order controllers may result in good performance but very poor robustness, which is not detectable by the conventional indices of gain and phase margins. To avoid this, a robustness index is proposed as a replacement for the gain margin. Optimal controller design is the achievable by minimizing a designated error integral criterion for a load disturbance subject to inequality constraints on phase margin and the new robustness index. By a clever adjustment in control algorithms, the optimal design for a load disturbance can also give a fast response with a desired overshoot for a step set point change.

並列關鍵字

Robust controller design ； Simple-structure controllers ； High-order controllers ； Gain and phase margins ； Closed-loop response

國際替代計量

Design of Robust Controllers with Simple Structures for Stable, Integrating and Unstable Processes

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