Decoupled internal model controller, control system and control method for multivariable time-delay non-minimum-phase non-square systems

Abstract

The embodiment of the invention, which relates to the automatic control field of the process industry, provides a decoupling internal die controller, control system, and control method of a multivariable time-lag non-minimum-phase non-square system. The decoupling internal die controller comprises a dynamic decoupling compensation module, a generalized dynamic inversion module, a low-pass filter module, and an all-pass compensation module. To be specific, the dynamic decoupling compensation module is used for eliminating coupling based on the integrated design of an object model correlation matrix to realize dynamic decoupling; the generalized dynamic inversion module is used for calculating an input value according to a given value of a generalized controlled object, so that an output value of a controlled variable reaches the given value; the low-pass filter module is used for enhancing robustness of the system; and the all-pass compensation module is used for eliminating an adverse effect of a non-minimum phase part, being a zero pint of a right half plane (RHP) of the generalized controlled object, wherein the generalized dynamic inversion module can be realized based on the all-pass compensation design. According to the invention, the control equipment, system, and method are simple and feasible; the non-implemented factor of dynamic decoupling can be eliminated; the difficulty of inversion of the dynamic decoupling design controller process of the controlled object can be substantially reduced; the complete and dynamic decoupling can be realized; and the control precision and robustness of the system can be improved.

Description

technical field [0001] The invention relates to the field of process industry automatic control, in particular to a decoupling internal model controller, a control system and a control method for a multi-variable time-delay non-minimum phase non-square system. Background technique [0002] In the actual chemical industry process, a class of complex controlled objects widely exists: multi-variable, multi-time-delay, non-minimum phase, and in the actual multi-variable multi-time-delay controlled objects, there are also widely non-square system controlled objects. A non-square system is the controlled object of a multivariable system with unequal input and output numbers, and its dynamic inverse is not easy to obtain, so its decoupling control has always been a difficult problem in multivariable system control. The existence of such complex controlled objects makes the process industry more complex and difficult to control. Traditional univariate control methods are difficult ...

AI Technical Summary

Problems solved by technology

The method integrates the design of the decoupling internal model controller according to the associated adjoint matrix of the object model, eliminates the unrealizable factors of dynamic decoupling, simplifies the calculation amount of the existing method for the inversion of the non-square matrix, and solves the problem of complex controller design and It is not easy to adjust, which improves the control accuracy and robustness of the system

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