针对直流电机精确数学模型的获取及其双闭环控制器参数的整定问题,在Matlab/xPC目标环境使用递推最小二乘法对某型直流电机进行参数的在线辨识,获得某工作转速下的动态结构图参数.针对该结构图,在Simulink环境下对速度调节器和电流调节器的PI参数进行整定并仿真,达到满意效果后,将控制器下载到xPC目标机中,采用毫秒级步长对电机进行双闭环控制,并可在线调整控制器参数.试验表明,该方法简便高效,具有辨识结果误差小,双闭环控制响应速度快、动态性能良好的优点,可用于直流电机双闭环控制系统的快速控制原型.%For the problem of obtaining DC motor' s precise mathematical model and tuning the parameter of its double closed-loop controller, the recursive least squares method is used for online identification of one type of DC motor to obtain the parameter of dynamic structure at certain working speed in Matlab/xPC environment. Aiming at the dynamic structure of DC motor, the PI parameter of the speed regulator and current regulator is adjusted to achieve satisfactory results in Simulink environment. Then the regulator is downloaded to the xPC target to realize double closed-loop control of DC motor with control step in millisecond, and controller parameters support online adjustment. Experiments show that the method is simple and effective with little error of I-dentification results, and the results of double closed-loop control have fast response and good dynamic performance. So it can be used as rapid control prototyping (RCP) of double closed-loop control of DC motor.
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