【作者】 布晓彬；

【导师】 袁赣南；

【作者基本信息】 哈尔滨工程大学 ， 导航、制导与控制， 2005， 硕士

【摘要】 本文从工程实际出发，以内模控制理论为基础，利用AVR单片机(ATmega16)，设计了具有非线性、大惯性的陀螺内部温度控制系统。文中着重研究了温控模型的建模、内模控制系统的设计、四阶龙格—库塔算法以及整个温控系统的硬、软件设计。并进行了控制系统的仿真和调试。在陀螺内部，对象的时滞、各种不可测干扰等都是普遍存在的，也是较难控制的，而普通的PID控制器，虽然其控制规律、参数设置简单、稳态性能好、可靠性高等优点得到广泛应用，但它对过程的品质指标恶化；对周期性、多频扰动等控制精度要求高的场合，常规的PID控制器调节就难以得到满意的控制效果。内模控制一种基于过程数学模型进行控制器设计的新型控制策略，这一控制的优点是能将PID控制、Smith预估控制、确定性线性二次最优反馈控制和多种预测控制等归纳在同一架构之下，它的设计原理简单、跟踪调节性能好、鲁棒性强、参数整定直观明了、能消除不可测干扰的影响，是一种设计和分析预测控制系统的有力工具。另外，为了能够准确得到温控模型，采用了最小二乘拟合；为了提高整个控制系统的精度，利用ATmega16单片机的丰富资源、四阶龙格-库塔法，设计了可靠的软件系统。通过对整个系统的仿真和调试，证明了该系统具有良好的位置跟随性能、抗干扰性能、鲁棒性和实用性。更多还原

【Abstract】 This paper describes the designing of gyro temperature control system with non-linear, large inertia on the base of IMC (Inner Model Control) theory and AVR MCU (Micro programmed Control Unit) from project reality. It emphasizes on the study of the modeling of the temperature control model, the design of IMC system, the program of four-ladder Runge-Kutta algorithm and the software and hardware design of the whole temperature control system.Inside the gyro, object’s large time lag and all kinds of unmeasurement disorders are ubiquitous and hard to control. One side, traditional PID control is widely used for its simpleness of control and parameter’s setup, the stable state’s good performance and high dependability, etc. But traditional PID control can hardly get satisfactory control result on the occasion of process quality index’s worsen and high control precision to periodicity and multi-frequency disorders. The other side, IMC is a kind of powerful design, analyses and predict tool and a new-type control strategy that the controller is designed on the basis of process mathematics model. The advantage of IMC is that IMC can sum up PID control, Smith predict control, the determinacy linear optimum square feedback control and many kinds of prediction control under the same framework. IMC has simplicity of design principle and parameter alignment and good characters of track adjustability and robust.In addition, for getting actual temperature control model, use the least square weighted fusion algorithm; for increasing whole systems’ control precision, take advantage of AVR MCU, four-ladder Runge-Kutta algorithm and high credibility software. Through simulation of the control system, the result makes clear that the controller has very good characteristics of adjustability, anti-jamming and robust.更多还原