基于滑模干扰观测器的直流电机系统复合控制

随着直流电机设备在农林业、制造工业和航空航天领域应用得越来越广泛,实际工程对其性能的要求也越来越高。针对直流电机系统控制中面临的建模误差、参数摄动以及摩擦力矩干扰问题,提出一种滑模干扰观测器(SMDOB,sliding mode disturbance observer),其输出可作为控制系统中干扰补偿的设计依据。基于所设计的内环SMDOB,并利用不变性原理,提出一种外环复合控制方案,从而实现直流电机系统的位置跟踪能力。仿真结果表明,相比传统的控制方案,该控制方案下电机系统的跟踪性能更好,对建模误差、参数摄动以及摩擦力矩干扰的鲁棒性更高。而且,该控制方案的结构较为简单,易于工程实现。

Compound Control for DC Motor System Based on Sliding Mode Disturbance Observer

With the DC motor devices are more and more widely used in forestry,agricultural,manufacturing industry and aerospace,higher and higher performances are required in practical engineering.To solve the problems of modeling error,parameter variations and friction moment disturbance in control process of DC motor system,one sliding mode disturbance observer (SMDOB) is proposed,whose output can be used as the reference for designing disturbance compensation in control system.Based on the designed SMDOB in inner loop,one outer loop compound controller used invariance principle is proposed for realizing the position tracking of DC motor system.The simulation results show that the proposed control scheme has better tracking properties and stronger robustness against modeling error,parameter variations and friction moment disturbance.Moreover,its structure is simple,and is easy to be implemented in engineering.