具有电枢反应非线性不确定性的直流电机速度鲁棒跟踪控制研究

该文针对电枢反应引起的非线性不确定性及具有参数变化和负载扰动的直流电机速度跟踪控制问题，构造了一个适当的增广被控对象，将其转化为一标准设计问题，设计了速度控制系统的鲁棒状态反馈控制器，进而利用二自由度鲁棒跟踪设计方法设计了速度鲁棒跟踪控制器。仿真研究结果表明，该文所设计的速度鲁棒跟踪控制系统，不仅对于电机的非线性不确定性有较好的控制效果，而且可以有效地抑制电机负载扰动的影响。

THE RESEARCH OF SPEED ROBUST TRACKING CONTROL ON DC MOTOR CONSIDERING THE NONLINEAR OF ARMATURE REACTION

The speed tracking control problem is first transformed into a standard design problem by constructing a expanded controlled plant reasonably for the DC motor that has the nonlinearity uncertainty brought by armature reaction and parameters time-varying and load disturbance. Then the state feedback robust controller of speed system is developed, and the speed tracking robust controller is designed by using the two-degree robust tracking method. The simulation result shows that the controller designed not only is stable to the nonlinear uncertainty, but also has a good disturbance attenuation performance for the load variation of the DC motor.