动态数学模型下的直流伺服电机控制研究

Research on DC Servo Motor Control Based on Dynamic Mathematical Model

论文针对传统的直流伺服电机数学模型只给出稳态时的电气和机械方程的缺陷,提出了如何建立一个动态的直流伺服电机数学模型。该数学模型考虑了直流电机的电气和机械惯量的存在,确立了在动态的变化过程中,电压、电流、转速、转矩等各个参数的变化率之间的关系。在该数学模型的基础上讨论直流伺服电机各种闭环控制系统的框架和传递函数,着重讨论了在双闭环控制中PID控制器的作用。最后通过具体的DSP软硬件设计实例,推介上述直流伺服电机控制理论的有效应用途径。

Concerning the defect that traditional DC motor mathematical model only gives the electrical and mechanical equations in the steady state,this paper proposes how to establish a dynamic DC servo motor mathematical model which takes into account the electrical and mechanical inertia of DC motor and verifies the relationships of rate of change of various parameters such as voltage,current,rotate speed,torque,etc.in the process of dynamic changes.Moreover,on the basis of this mathematical model,this paper discusses the framework and transfer function of various closed loop control systems of DC servo motors,especially the role of PID controller in double closed loop control.At last,through an example of hardware and software design of DC servo motor controller it explains the advancement of the above-mentioned control theory and the effective realization approach.