凸轮机构的模型参考自适应稳速控制系统

摘要

介绍了针对直流力矩电机驱动的模型参考自适应控制(MRAC)的设计.在负载不可知的前提下,基于李雅普诺夫稳定性理论设计自适应律,保持系统稳定,抑制速度波动.介绍了模型参考自适应系统的基本结构与设计方法,并给出了仿真与实际实验结果.结果表明,该系统抑制了电机转速的扰动,使凸轮在进程与回程之间转速平滑过渡.%A model reference adaptive velocity control( MRAC) system is presented for a cam gear, which is driven by a DC moment motor. In a situation where the load on a motor can't be accurately measured, a set of adaptive law is calculated by Lyapunov theory. And based on these adaptive law, the system can keep steady and rein the fluctuation of the velocity. The basic structure of a MRAC system and the method of designing such a system are introduced. In addition, the results of emulation and experiments are provided. These results conclude that this control system can rein the fluctuation of motor velocity, and make the velocity smoothly transfer from the forward loop to the backward loop of the cam.