本文選題：自動控制技術(shù) + 車輛工程��； 參考：《吉林大學(xué)學(xué)報(工學(xué)版)》2017年03期

【摘要】：為了提高有刷直流電機(jī)調(diào)速的平穩(wěn)性和快速性,在經(jīng)典雙閉環(huán)電機(jī)控制系統(tǒng)設(shè)計方案的基礎(chǔ)上,針對轉(zhuǎn)速環(huán)模型中存在非線性及負(fù)載扭矩不可測的特點,提出了基于擴(kuò)張狀態(tài)觀測器的三步法非線性轉(zhuǎn)速控制策略。首先,設(shè)計了三步法(TS)非線性速度控制器,該控制器由類穩(wěn)態(tài)控制、參考動態(tài)前饋控制及積分誤差反饋控制組成,具有工程意義明確、實現(xiàn)方便的優(yōu)點。然后,設(shè)計了擴(kuò)張狀態(tài)觀測器(ESO)對系統(tǒng)中負(fù)載扭矩等干擾進(jìn)行在線估計并實時補(bǔ)償,證明了觀測器誤差系統(tǒng)的有限時間收斂性及有界性;同時將觀測器誤差考慮成有界的擾動輸入,在輸入到狀態(tài)穩(wěn)定性理論框架下,證明了閉環(huán)誤差系統(tǒng)的魯棒性。針對電流響應(yīng)較快、極易達(dá)到穩(wěn)態(tài)的特點,設(shè)計了工程中常用的前饋加PI反饋結(jié)構(gòu)的二自由度控制器,同時采用模擬電路實現(xiàn)該控制器,減小了電流環(huán)控制周期,從而抑制了電流波動。為了驗證整個控制系統(tǒng)的有效性和工程可實現(xiàn)性,通過有刷直流電機(jī)階躍及正弦轉(zhuǎn)速跟蹤實驗,證明了本文所設(shè)計控制系統(tǒng)能夠顯著提高電機(jī)的瞬態(tài)性能和穩(wěn)態(tài)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.
【作者單位】： 吉林大學(xué)汽車仿真與控制國家重點實驗室;吉林大學(xué)通信工程學(xué)院;吉林大學(xué)工程仿生教育部重點實驗室;
【基金】：國家自然科學(xué)基金重點項目(61520106008,61374046,61573165)
【分類號】：TM33;TP273

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本文編號：1809104