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作 者:徐勇 张智华 龚旭 李胜永 XU Yong;ZHANG Zhihua;GONG Xu;LI Shengyong(Department of Marine Engineering,Jiangsu Shipping College,Nantong 226010,Jiangsu,China;School of OpticalElectrical and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
机构地区:[1]江苏航运职业技术学院交通工程学院,江苏南通226010 [2]上海理工大学光电信息与计算机工程学院,上海200093
出 处:《中国工程机械学报》2021年第3期222-226,共5页Chinese Journal of Construction Machinery
基 金:江苏省交通运输厅资助项目(2018Y26);南通市科技项目(MSZ19109)。
摘 要:为了对直流伺服电机的速度进行准确的控制,提出了一种基于内模控制器的直流伺服电机速度控制方法。在对直流伺服电机的模型分析时,计算了直流伺服电机工作时的力矩,在获取直流伺服电机的线性化机电动力学方程后,求取了直流伺服电机的传递函数。在分数阶积分器传递函数基础上,求取了其对应的谱传递函数以及相位函数。介绍了CRONE控制方法,并利用其闭环传递函数获取了内模控制器模型,利用内模控制器建立的内模控制系统,得到了系统的输出速度。在Matlab/Simulink软件上对本文方法和干扰观测器PID方法进行了速度跟踪实验。实验结果显示:本文方法能够对阶跃和曲线变化的参考速度进行准确、平稳的跟踪,较干扰观测器PID方法而言,在对阶跃变化的参考速度跟踪时,本文方法的跟踪误差减小了26.09%,在对曲线变化的参考速度跟踪时,本文方法的跟踪误差减小了34.59%。由此说明,本文方法能够控制直流伺服电机准确的跟踪参考速度。In order to control the speed of DC servo motor accurately,a speed control method of DC servo motor based on internal model controller is proposed in this paper.In the model analysis of DC servo motor,the moment of DC servo motor is calculated,and the transfer function of DC servo motor is obtained after obtaining the linearized mechanical electrodynamics equation of DC servo motor.Based on the transfer function of fractional integrator,the corresponding spectrum transfer function and phase function are obtained.Then the crone control method is introduced,and the internal model controller model is obtained by using its closed-loop transfer function.The internal model control system established by the internal model controller is used to obtain the output speed of the system.Based on Matlab/Simulink software,the speed tracking experiments of this method and disturbance observer PID method are carried out.The experimental results show that this method can track the reference speed of step and curve changes accurately and stably.Compared with the disturbance observer PID method,the tracking error of this method is reduced by 26.09%when tracking the reference speed of step changes,and 34.59%when tracking the reference speed of curve changes.Therefore,this method can control the reference speed of DC servo motor accurately.
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