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摘要: 现代控制论与控制实际之间存在一些"鸿沟"，根据PID（Proportional-integral-derivative）控制器具有良好抗扰性的事实，提出了一种基于PID的二阶内反馈控制器（Second order of internal feedback controller，SO-IFC）.基于在新型"高效"滤波方法上的一些进展，将一种新型正弦跟踪滤波方法（New sinusoid tracking filter，NSTF）运用于SO-IFC控制回路的噪声干扰滤波.针对被控对象的准确数学模型难以获取的问题，将一种根据过程增益（Process gain，PG）和过程总滞后（Process all lag，PAL）的工程参数整定方法（Engineering parameter tuning method，EPTM）运用于SO-IFC参数的整定，降低了SO-IFC参数整定的难度.将SO-IFC运用于大滞后过程的控制，具有良好的控制性能包括良好的扰动抑制性能.数学分析、仿真实验和实际应用的结果验证了文中所提出观点和方法的正确性和有效性.Abstract: The modern cybernetics has some difficulty in practical application, as the proportional-integral-derivative (PID) has good anti-jamming performance, a second order of internal feedback controller which is based on PID is proposed (SO-IFC). Based on the advances high efficiency filtering method, a sinusoid tracking filter (STF) is applied to noise filtering of the SO-IFC control loop. Aiming at the question of controlled object which is difficult to obtain the accurate mathematical model, an engineering parameter tuning method (EPTM) which the based on the process gain (PG) and the process total lag (PAL) has been used to parameter setting of the SO-IFC that reduces the difficulty of tuning the SO-IFC parameters. The SO-IFC is applied to the control of higher-order controlled objects, good anti-jamming control performance has been obtained. The results of mathematical analysis, simulation experiments and practical applications verify the validity of the views and methods proposed in this paper.1) 本文责任编委 张卫东
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图 3 二阶内反馈控制系统结构示意图
Fig. 3 Structure diagram of second order of internal feedback control system
图 4 SO-IFCS开环系统频域相位稳定裕度
Fig. 4 Schematic diagram of frequency domain phase stability margin of open loop system of second order of internal feedback control system
图 12 工程对象控制特性仿真实验结果
Fig. 12 The diagram of control characteristic simulation results of engineering object
表 1 SO-IFC工程参数
Table 1 Engineering parameter of second order of internal feedback controller
$\textit{n}_{\textrm{eng}}$ $\textit{T}_{\textrm{NIFD}}= \textit{T}_{\textrm{0.63}}/ n_{\textrm{eng}}$ $\textit{K}_{\textrm{NIFD}}=\textit{K}_{\alpha}$ $\textit{n}_{\textrm{eng}}$ = 6 $\textit{T}_{\textrm{NIFD}}$ = 103 s $\textit{K}_{\textrm{NIFD}}$ = 1 $\textit{n}_{\textrm{eng}}$ = 8 $\textit{T}_{\textrm{NIFD}}$ = 77 s $\textit{K}_{\textrm{NIFD}}$ = 1 $\textit{n}_{\textrm{eng}}$ = 12 $\textit{T}_{\textrm{NIFD}}$ = 39 s $\textit{K}_{\textrm{NIFD}}$ = 1 
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