他励直流电动机精确线性化自适应控制

Adaptive speed control for separately excited DC motor based on exact linearization method

基于他励直流电动机数学模型,研究了输出函数对于非线性控制器设计的影响。通过选择不同输出函数,应用精确线性化理论和极点配置方法,设计了转速状态反馈线性化控制器和输入输出反馈线性化控制器。理论推导发现,输入输出线性化控制器是全局稳定的,而状态反馈线性化控制器由于存在奇点,而不是全局能控的。将两种控制器的控制效果进行仿真对比,结果表明,输入输出反馈线性化控制器与状态反馈线性化控制器相比,控制器结构简单、动态性能好、运行稳定。在输入输出反馈线性化控制器的基础上,设计了输入输出反馈线性化控制器的自适应控制器。仿真结果表明,自适应控制器的抗系统参数变化干扰能力相比于输入输出反馈线性化控制器有明显提高。

Based on the mathematical model of separately excited DC motor, the influence of output functions to nonlinear controller is studied. Exact linear theory and the pole assignment method are used to design state feedback linearization speed controller and input-output feedback speed linearization controller by selecting different output functions. The theoretical analysis found that the input-output linearization controller is globally stable. Due to the presence of singular points, state feedback linearization controller is not a global controller. The simulation results show that input-output feedback linearization controller has a more simple structure, better stable operation and dynamic performance compared to state feedback linearization controller. On the basis of input-output linearization controller, the input-output feedback linearization adaptive controller is designed. The simulation results show that the adaptive controller has a stronger anti-interference capability compared to input-output feedback linearization controller.