本文選題：伺服電機(jī)　切入點(diǎn)：基于干擾觀測器的控制　出處：《北京交通大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：在實(shí)際的工業(yè)系統(tǒng)中,外界干擾是廣泛存在的。因此,在控制器的設(shè)計(jì)過程中,擾動抑制是一個(gè)不可避免的問題。針對不同的干擾信號,設(shè)計(jì)控制策略實(shí)現(xiàn)系統(tǒng)面向性能的控制,是當(dāng)前控制領(lǐng)域亟待解決的熱點(diǎn)。本文以直流伺服電機(jī)作為研究對象,在受到外界擾動的情況下,設(shè)計(jì)了面向性能的控制算法實(shí)現(xiàn)對電機(jī)的控制。最后通過理論分析和實(shí)驗(yàn)裝置驗(yàn)證了此算法的有效性。首先,建立并簡化了在電樞電壓控制下直流伺服電機(jī)的數(shù)學(xué)模型。針對模型中存在的兩個(gè)未知參數(shù),采用最小二乘法進(jìn)行辨識,得到了電機(jī)準(zhǔn)確的數(shù)學(xué)模型,為后續(xù)的控制器設(shè)計(jì)提供基礎(chǔ)。其次,針對辨識出來的直流伺服電機(jī)數(shù)學(xué)模型,從理論的角度驗(yàn)證了擾動抑制方法的有效性。本文采用了基于干擾觀測器的控制(簡稱DOBC)方法觀測出電機(jī)受到的擾動信號,然后結(jié)合反演控制(Backstepping)方法設(shè)計(jì)出面向性能的控制律,通過理論分析證明了該方法的有效性。最后選取了兩種常見的干擾信號,通過MATLAB數(shù)值仿真驗(yàn)證了該方法的有效性。為研究擾動抑制方法在伺服電機(jī)中的應(yīng)用,需產(chǎn)生合適的干擾信號,本文搭建了一個(gè)基礎(chǔ)信號源實(shí)驗(yàn)平臺。此平臺主要采用51單片機(jī)來控制AD9850芯片,使其產(chǎn)生頻率可調(diào)的信號,并且信號的相關(guān)信息通過LCD1602顯示出來。搭建出來的信號源頻率范圍在1Hz—10MHz之間,可以滿足工業(yè)實(shí)踐對基礎(chǔ)擾動信號的需要。再次,本文還搭建了一套完整的直流伺服電機(jī)系統(tǒng),主控芯片采用的是STM32F103C8T6芯片,目的是從實(shí)驗(yàn)的角度驗(yàn)證擾動抑制方法的作用。將基礎(chǔ)信號源平臺產(chǎn)生的干擾信號加入到伺服電機(jī)的實(shí)驗(yàn)平臺,再將DOBC方法和反演控制方法相結(jié)合,設(shè)計(jì)出合適的控制律,對伺服電機(jī)實(shí)現(xiàn)面向性能的控制。實(shí)驗(yàn)結(jié)果表明,擾動抑制方法在伺服電機(jī)中取得了良好的控制效果。最后,對全文工作做了總結(jié)以及對未來工作的展望。
[Abstract]:In the actual industrial systems, interference is widespread. Therefore, in the design process of the controller, the disturbance rejection is an unavoidable problem. For different signal interference, the design of control system for control performance, is a hotspot in control field to be solved. This paper uses DC servo motor as the object of study, is subjected to external disturbance, the design of the control algorithm oriented to realize the performance of motor control. Finally, the effectiveness of this algorithm is verified by theoretical analysis and experimental device. First of all, to establish and simplify the mathematical model under the control of the armature voltage of DC servo motor. According to the two unknown parameters model in the presence of identification was carried out by using the least square method, the mathematical model of the motor accurately, and provide the basis for the follow-up controllerdesign. Secondly, for the identification of DC. The servo motor mathematical model, effective disturbance rejection method is proved in theory. This paper adopts control based on disturbance observer (DOBC) method observe the disturbance signal is then combined with the motor, backstepping control (Backstepping) method was designed to control law can, through theoretical analysis proves the validity of this methods. We finally select two kinds of interference signal, through the MATLAB numerical simulation to verify the effectiveness of the method. The application of disturbance suppression method in servo motor, generate the appropriate interrupt signal, this paper built a basic signal source experimental platform. This platform mainly uses 51 single-chip microcomputer to control AD9850 the chip to produce frequency adjustable, display the relevant information and signal by LCD1602. Build the signal source in the frequency range of 1Hz 10MHz, can be full of On the basis of practice into the industrial need disturbance signal. Thirdly, this paper also built a complete set of DC servo motor system, the main chip is STM32F103C8T6 chip, the purpose is from the perspective of experimental verification method for disturbance rejection effect. The interference signal based signal source platform is added to the experimental platform for the servo motor the combination of DOBC method and the inversion control method, design the appropriate control law, the control oriented to realize the performance of servo motor. The experimental results show that the disturbance rejection method has achieved good control effect of the servo motor. Finally, summarizes and prospects for the future work.

【學(xué)位授予單位】：北京交通大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TM383.41

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