基于无模型自适应控制方法的直流电机调速系统  

DC Motor Speed Regulating Control System Based on the Model-free Adaptive Control Method

作　　者：曹荣敏[1] 侯忠生[2] 白雪峰[1] 黄健[1] 

机构地区：[1]北京机械工业学院计算机及自动化系,北京100085 [2]北京交通大学先进控制系统研究所,北京100044

出　　处：《电气传动》2008年第7期26-30,共5页Electric Drive

基　　金：北京市教育委员会科技计划面上项目资助(KM200811232007);国家自然科学基金资助(60474038)

摘　　要：设计了一种应用数据采集卡的无模型学习自适应直流调速系统,将基于全格式线性化的单入单出非线性离散时间系统的无模型自适应控制方法应用在直流电机速度控制中,控制器的设计是无模型的,弥补了经典自适应控制阶数高时在线计算量过大而不能适应于系统快速变化过程的不足。系统包括控制部分和实时仿真部分,实现了转速采集、电机控制、参数修改及轨迹绘制的实时过程。采用Visual Basic(VB)编写的控制软件,通过动态链接库调用的方式控制数据采集卡。实验结果展示了该方法的稳定性和抑止外部干扰的有效性和鲁棒性。The model-free learning adaptive motion control system of DC motor based on data acquisition was designed. The model-free learning adaptive control （MFLAC） approach of a class of SISO nonlinear discrete-time systems based on linearization of entire format was applied to DC motor speed control. The design of controller is modelfree. The control is very effective when model orders are too high that the classical adaptive control needs too much computering resource to deal with its heavy computation burden in order to meeting the requirement of the rapid system response. System consists of control components and real time simulation. Speed acquisition, motor control, parameter modification and track plotted of real time process are realized, programmed software is the Visual Basic,adopted of the dynamic-linked libraries （DLL） to control the data acquisition. Stability, validity and robustness against exogenous disturbance and noise are demonstrated by experimental results for the nonlinear systems of motor with vaguely known dynamics.

关 键 词：无模型学习自适应控制方法 直流电机 数据采集 稳定性 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]