有刷直流电机非线性控制系统设计

发布时间：2018-04-27 04:09

本文选题：自动控制技术 + 车辆工程　；参考：《吉林大学学报(工学版)》2017年03期

【摘要】：为了提高有刷直流电机调速的平稳性和快速性,在经典双闭环电机控制系统设计方案的基础上,针对转速环模型中存在非线性及负载扭矩不可测的特点,提出了基于扩张状态观测器的三步法非线性转速控制策略。首先,设计了三步法(TS)非线性速度控制器,该控制器由类稳态控制、参考动态前馈控制及积分误差反馈控制组成,具有工程意义明确、实现方便的优点。然后,设计了扩张状态观测器(ESO)对系统中负载扭矩等干扰进行在线估计并实时补偿,证明了观测器误差系统的有限时间收敛性及有界性;同时将观测器误差考虑成有界的扰动输入,在输入到状态稳定性理论框架下,证明了闭环误差系统的鲁棒性。针对电流响应较快、极易达到稳态的特点,设计了工程中常用的前馈加PI反馈结构的二自由度控制器,同时采用模拟电路实现该控制器,减小了电流环控制周期,从而抑制了电流波动。为了验证整个控制系统的有效性和工程可实现性,通过有刷直流电机阶跃及正弦转速跟踪实验,证明了本文所设计控制系统能够显著提高电机的瞬态性能和稳态性能。
[Abstract]:In order to improve the smoothness and rapidity of brush-DC motor speed regulation, on the basis of the design scheme of the classical double-closed-loop motor control system, the characteristics of nonlinear and unmeasurable load torque in the speed loop model are pointed out. A three-step nonlinear speed control strategy based on extended state observer is proposed. Firstly, a three-step TS-based nonlinear speed controller is designed. The controller is composed of a kind of steady-state control, a reference dynamic feedforward control and an integral error feedback control. It has the advantages of clear engineering significance and convenient implementation. Then, an extended state observer (ESO) is designed to estimate the load torque and compensate the disturbance in real time. The finite time convergence and boundedness of the observer error system are proved. At the same time, the observer error is considered as bounded disturbance input, and the robustness of the closed-loop error system is proved under the frame of input to the state stability theory. Aiming at the characteristic of fast current response and easy to reach steady state, a two-degree-of-freedom controller with feedforward and Pi feedback structure is designed, and the analog circuit is used to realize the controller, which reduces the control period of current loop. Thus, the current fluctuation is restrained. In order to verify the effectiveness and engineering realizability of the whole control system, the experiments of step and sinusoidal speed tracking of brush-DC motor show that the control system designed in this paper can significantly improve the transient and steady performance of the motor.
【作者单位】：吉林大学汽车仿真与控制国家重点实验室;吉林大学通信工程学院;吉林大学工程仿生教育部重点实验室;
【基金】：国家自然科学基金重点项目(61520106008,61374046,61573165)
【分类号】：TM33;TP273

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