基于精确线性化方法．设计了两种他励直流电动机转速非线性控制器，并对其性能进行了比较。从他励直流电动机的数学模型出发，运用微分几何理论，讨论给出了他励直流电动机可进行状态反馈线性化的条件。在此基础上，通过选择不同输出函数，设计了状态反馈控制器和输出反馈控制器，并研究了这两种控制器的动态响应特性、抗干扰能力和稳定运行区域。结果表明，对于他励直流电动机数学模型而言，输出反馈线性化控{l；6器相对于状态反馈线性化控制器．具有控制器结构简单、运行稳定、动态性能好、抗干扰能力强等优点。%Based on the feedback linearization method, two different speed nonlinear controllers of are designed by choosing different output functions, and its performance are studied. Based on the mathematical model of separately excited DC motor and differential geometry theory, state feedback linearization conditions are given. State feedback controller and output feedback controller are designed, and the dynamic response characteristics, the anti-interference ability and stable operation areas are discussed of the two controllers. The results show that, for separately excited DC motor mathematical model, compared to the state feedback hnearization controller, the output feedback linearization controller has a more simple structure, better stable operation and dynamic performance, stronger anti-interference capability, et al.
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