吉林大学学报(工学版) ›› 2017, Vol. 47 ›› Issue (3): 900-907.doi: 10.13229/j.cnki.jdxbgxb201703029

• 论文 • 上一篇    下一篇

有刷直流电机非线性控制系统设计

顾万里1, 2, 张森2, 胡云峰1, 2, 3, 陈虹1, 2   

  1. 1.吉林大学 汽车仿真与控制国家重点实验室,长春 130022;
    2.吉林大学 通信工程学院,长春 130022;
    3.吉林大学 工程仿生教育部重点实验室,长春 130022
  • 收稿日期:2016-01-22 出版日期:2017-05-20 发布日期:2017-05-20
  • 通讯作者: 胡云峰(1983-),男,讲师,博士.研究方向:非线性控制应用及汽车电子控制.E-mail:huyf@jlu.edu.cn
  • 作者简介:顾万里(1988-),男,博士研究生.研究方向:非线性控制系统设计.E-mail:guwl13@mails.jlu.edu.cn
  • 基金资助:

    国家自然科学基金重点项目(61520106008,61374046,61573165)

Nonlinear controller design of brushed DC motor

GU Wan-li1, 2, ZHANG Sen2, HU Yun-feng1, 2, 3, CHEN Hong1, 2   

  1. 1.State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022,China;
    2.College of Communication Engineering,Jilin University, Changchun 130022,China;
    3.Key Laboratory of Bionic Engineering, Ministry of Education, Changchun 130022,China
  • Received:2016-01-22 Online:2017-05-20 Published:2017-05-20

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摘要：

为了提高有刷直流电机调速的平稳性和快速性,在经典双闭环电机控制系统设计方案的基础上,针对转速环模型中存在非线性及负载扭矩不可测的特点,提出了基于扩张状态观测器的三步法非线性转速控制策略。首先,设计了三步法(TS)非线性速度控制器,该控制器由类稳态控制、参考动态前馈控制及积分误差反馈控制组成,具有工程意义明确、实现方便的优点。然后,设计了扩张状态观测器(ESO)对系统中负载扭矩等干扰进行在线估计并实时补偿,证明了观测器误差系统的有限时间收敛性及有界性;同时将观测器误差考虑成有界的扰动输入,在输入到状态稳定性理论框架下,证明了闭环误差系统的鲁棒性。针对电流响应较快、极易达到稳态的特点,设计了工程中常用的前馈加PI反馈结构的二自由度控制器,同时采用模拟电路实现该控制器,减小了电流环控制周期,从而抑制了电流波动。为了验证整个控制系统的有效性和工程可实现性,通过有刷直流电机阶跃及正弦转速跟踪实验,证明了本文所设计控制系统能够显著提高电机的瞬态性能和稳态性能。

关键词: 自动控制技术, 车辆工程, 有刷直流电机, 非线性控制方法, 扩张状态观测器, 鲁棒性

Abstract:

In order to improve the transient and steady-state performance of brushed DC motor, a novel control system is developed on the basis of dual closed-loop control system. For the speed loop, considering the nonlinear characteristics of the friction torque and the un-measurable load torque, an Extended State Observer (ESO) based Triple-Step (TS) nonlinear control method is developed. First, the speed controller is designed using the TS method, which consists of the steady-state control, the feed-forward control related to the reference variation and the error feedback control. The structure of the designed nonlinear controller is concise. Then, an ESO based on model compensation is applied to estimate and compensate disturbances. The estimated errors are bounded and can converge to a prescribed range in a finite time. The estimated error is considered as disturbance input with the bounded amplitude. The method to analyze the robustness of this system is discussed in the framework of input state stability theory. For the current loop, current dynamics is neglected due to the fast electric response, the commonly used feedforward controller and PI feedback controller are designed to reduce torque ripple. The designed control system is evaluated by experiments. Results show that the proposed controller can improve the transient and steady-state performance of brushed DC motor significantly. The effectiveness and engineering implementation of this controller is also verified.

Key words: automatic control teehnology, vehicle engineering, brush DC motor, nonlinear control method, extended state observer, robustness

中图分类号: 

  • TM331
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