基于内模原理的直流电动机渐近跟踪鲁棒控制  

Asymptotic track robust control of DC motor based on internal model

作　　者：孟繁荣[1] 王国权 游江[1] 罗延明[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]黑河电业局,黑龙江黑河164096

出　　处：《应用科技》2006年第4期27-29,共3页Applied Science and Technology

摘　　要：基于内模原理设计直流电动机的状态反馈渐近跟踪控制器.首先推导了基于内模原理的直流电动机增广模型,然后给出系统设计的时频指标与系统期望闭环极点的转化方法,最后给出了在转矩阶跃和正弦扰动作用下,系统在内模状态反馈控制器控制下的转速响应.仿真表明本设计的控制器具有较强的鲁棒性,达到了设计的要求.Internal model control is employed to design state feedback asymptotic tracking controller for DC motor in this paper. Firstly, the augment model is developed based on the internal model principle. Then the approach of how to transform time-frequency index to desired closed-loop poles of system is presented. Finally, the speed response of the system to the torques is given for step and sinusoidal disturbances under the newly-designed controller. The simulation demonstrates the strong robustness of the system.

关 键 词：内模原理 鲁棒控制 直流电动机 

分 类 号：TP15[自动化与计算机技术—控制理论与控制工程]