基于IMC的二自由度平台设计及仿真

在二自由度平台系统中，建立模型时的误差和不可预测的干扰的存在会导致可逆系统不可能完全解决系统的线性化和解耦问题，针对此问题，通过对二自由度平台系统建模过程和机理的研究分析，当二自由度平台系统采用内模控制（IMC）方法时，不但可以解决独立性追踪问题，还可以在获取伪线性系统的基础上进行扰动抑制，从而部分解决可逆系统耦合问题。同时采用Matlab应用仿真，证明内模控制不但具有常规PID控制的优点，而且在非线性系统条件下能够较好的工作，在现实工业控制生产中具有很大意义。

Design and Simulation of Two-degree of Freedom Platform Based on IMC

For the Two-degree of freedom platform’s question which is the error and unpredictable interference would lead the system couldn’t completely solving the problem of the system’s linearization and decoupling when establish the model. Through the analysis of the modeling process and research of mechanism of the two-degree of freedom platform system, the 2-DOF IMC method which can realize independent control of tracking and disturbance rejecting is adopted on the base of obtained pseudo-linear system. The matlab simulation proving that the IMC not only has the advantages of conventional PID control but also can work well under the condition of the nonlinear system,so it has great signifi-cance in the daily life.