基于反步法的直流电机鲁棒速度跟踪控制

Robust Velocity Tracking Control of DC Motor Based on Adaptive Backstepping

为实现具有电枢反应非线性和参数不确定性的直流电机速度跟踪控制,采用自适应反步法,设计了鲁棒自适应速度跟踪控制器。首先推导了电机的非线性动态模型并考虑了电机转动惯量及负载转矩的不确定性,然后经非线性变换并利用线性参考模型导出了系统的误差动态方程,基于自适应反步法设计了鲁棒速度跟踪控制器,最后对其稳定性进行了分析证明。

A robust adaptive velocity tracking controller based on adaptive backstepping is designed for a DC motor with nonlinear of armature reaction and parameter uncertainty. The nonlinear dynamic model of the motor is firstly derived, in which the parameter uncertainties such as the inertia and load torque are considered. Then by using linear reference model and suitable nonlinear coordinate transformation, error dynamical function of system is derived and the robust velocity tracking controller is proposed based on adaptive backstepping. and then stability of the svstem is also nroved.