基于矩阵规范化的直流电机自校正控制

直流电动机实际运行中,模型参数往往会受到运行环境、工况等条件的影响而发生变化,从而导致其系统模型的不确定性.为解决在上述条件下的控制器设计问题,本文介绍了一种基于自校正调节(Self-tuning Regulation)原理的自适应控制算法.该算法利用矩阵规范化的递推最小二乘法(Recursive Least Squares with Matrix Regularization,RLSMR)进行系统时变参数的在线估计,并针对实时辨识的参数采用极点配置(Pole Placement)方法来设计反馈控制器.计算机仿真结果表明,这种基于自校正调节的自适应控制算法对于直流电机的转速控制具有较理想的调节和跟踪能力,并能够很好地适应模型参数的变化.

An adaptive controller based on matrix regulation for direct current motors

The parameters of direct current motor model are often influenced by an operation en-vironment or a working condition so as to be imprecise and cause an uncertainty of systems.To solve the problem of controller design under such a condition,we introduce an adaptive control algorithm,which is based on Self-tuning Regulation.The algorithm first employs Recursive Least Squares with Matrix Regularization(RLSMR) to estimate the real-time varying system parameters.Then,a pole placement method is used to design a feedback controller according to the estimated parameters.Simulations show that the Self-tuning Regulation algorithm can track the parameter variations and has a good regulating performance when the radius speed of direct current motors is controlled.