直流电机调速系统的设计方法探讨(英文)

Some Attempts at the Design of DC Motor Speed Control System

本文首先介绍了双闭环直流电机调速系统的数学模型,并为之设置了具体参数。随后使用经典的控制器设计方法分别对电流环和转速环由内而外的进行了设计。然后建立了使用现代控制理论的状态空间方法描述的数学模型。为同时达到渐进跟踪和抑制扰动的目的,通过引入了内模理论,将原问题转化为增广系统的镇定性问题,从而只需为增广系统配置合适的状态反馈增益,这一点可通过特征根配置或者LQR方法来实现。接着设计了H无穷状态反馈控制器,这种方法会产生静差,但可以不使用积分器。所有的设计方法均在MATLAB/Simulink环境下进行了数值仿真并列出各自的特点。最后提出了更进一步的设计问题,包括观测器,滤波器的相关问题以及混合使用各种方法讨论。

In this report, a mathematical model of armature controlled dc motor is introduced, with specified parameters. Then classical methods are used to design controllers for each feedback loop, from the inner one to the outer one, after some simplification. Then the state space model is developed. Internal model principle is introduced here in order to achieve asymptotical tracking and disturbance rejection. By adding which, the problem can be transferred to a stabilizing one. Then the only procedure is to set the proper feedback gain for the augmented system. This can be obtained by pole placement or calculating LQR control law. The feedback gain of H-infinity method is also obtained, but it may produce static errors. All the design methods are simulated with MATLAB/Simulink. A few discussions are made for the simulation results. Then comparisons of the five different methods are list. Finally, some further issues such as estimator, filters and compounding different methods are put forward.