摘要
针对直流电机速度控制系统负载的未知时变特性和被控对象参数的不确定性,首先建立了直流电机速度系统的模型,将不确定性负荷扰动和未建模动态视为一个综合扰动项,然后利用扩张状态观测器对综合扰动项进行观测和补偿,基于自抗扰控制技术设计了一个不依赖于对象模型的直流电机速度鲁棒控制器。仿真结果证明,该控制器不仅有效地抑制了不确定负荷扰动的影响,同时对系统内部参数如电机转动惯量、电枢电阻、转矩常数等的摄动也具有较强的鲁棒性。
Aim at the characteristics of DC motor speed control system,such as unknown time-variety of external load disturbance and uncertainty parameters of system,the model of DC motor speed system is established ,where uncertain external load disturbance and unmodelled dynamics are regarded as one integrated disturbance. Then,using extended states observer（ESO） ,a new observer is proposed to observe and compensate this integrated disturbance,and a robust controller of DC motor speed system is designed based on active disturbance rejection control（ADRC） technology. The simulation results show this controller has very strong robustness not only to external load disturbance ,but also to unpredictable plant parameter variations such as inertia of load,resistance of armature and coefficient of torque.
出处
《电气传动》
北大核心
2006年第2期30-33,共4页
Electric Drive
