Abstract: Aiming at the characteristics of the multivariable, strong coupling and large time delay of the grinding classification system, the improved inverse decoupling active disturbance rejection internal model control method is proposed. The inverse decoupling method is used to realize the decoupling of the grinding classification system, and the improved internal model control and linear active disturbance rejection control are adopted for the decoupled subsystem. By introducing the internal model compensator and the gain to compensate the time delay, the dependence of the system upon the model is reduced .The model mismatch, external disturbance and uncertainties are suppressed by adjusting the parameters of the linear active disturbance rejection controller, the internal model compensator and gain. The simulation results show that the improved inverse decoupling active disturbance rejection internal model control method has the better decoupling performance, tracking performance and robust performance. The method is proved to be effective.

Key words: grinding classification system, inverted decoupling, linear active disturbance rejection control, internal model control