直流串激电机速度的滑模控制

讨论直流串激电机的速度控制问题.应用综合方法建立了电机的非线性模型,从理论上推导了滑模控制律,并用仿真和实验验证了其有效性.为实施控制设计了一个用于观测电机负载转矩的Luenberger观测器和一个角加速度估计器;为了减小由于执行中采样造成的稳态误差,提出了一种带有附加PI控制器的改进的滑模控制律.实验结果表明改进的滑模控制律的控制效果明显优于普通PID调节器和普通的滑模控制律.

Sliding-mode Speed Control of a Series DC Motor

The speed control problem of a series dc motor is considered.Based on the nonlinear model built by a hybrid method,a sliding-mode control law,with a load torque Luenberger observer and an angular acceleration estimator,is derived theoretically.The effectiveness is demonstrated by simulation and experiment.In order to reduce the steady-state error caused by the discrete implementation,a modified sliding-mode control with an auxiliary PI controller is proposed.The experimental results show that the modified sliding-mode control law is superior to the PID regulator and the ordinary sliding-mode control law.