输入输出反馈精确线性化他励直流电动机转速控制

摘要

基于精确线性化理论，设计了他励直流电动机非线性转速控制器。从他励直流电动机数学模型出发．对系统的两个平衡点进行了研究。在此基础上，运用输入输出线性化方法，通过选择不同的输出函数。设计了两种非线性转速控制器，并研究了控制器内动态的稳定性。仿真结果表明，直接选择电机转速为输出函数设计的控制器．无法将系统控制到期望平衡点，选择转速和电枢电流线性组合为输出函数设计的非线性控制器，可以使系统稳定到期望的平衡点，实现电动机转速精确控制，且具有很好的控制精度、动态性能和抗干扰能力%Based on the exact feedback linearization method, nonlinear speed controllers are designed. The two different equilibrium points of separately excited DC motor＇ s model also be studied. Two input-output feedback controllers are designed by choosing different output functions and stability of the internal dynamics is analyzed.The results show that, choosing speed as output function can＇t control the system to the desired equilibrium point. To design the nonlinear speed controller by choosing the linear combination of speed and armature current as output function can control the system to the desired equilibrium point. And the controller has a good controlling accuracy, dynamic performance and anti-interference capability.