Parameter setting method for robust controller of direct current motor

A robust controller and DC motor technology, applied in general control systems, control/adjustment systems, instruments, etc., can solve the problems of cumbersome and time-consuming controller design, achieve unique and effective parameters, reduce the amount of calculation, and simplify parameters The effect of the tuning process

Active Publication Date: 2014-09-17
CHANGCHUN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The invention provides a parameter tuning method of a DC motor robust controller to solve the cumbersome and time-consuming problems in controller design

Method used

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  • Parameter setting method for robust controller of direct current motor
  • Parameter setting method for robust controller of direct current motor
  • Parameter setting method for robust controller of direct current motor

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0044] 1. Assuming the mathematical model transfer function of the controlled object system of the DC motor where T = 0.4. And given the crossover frequency ω c =10rad / s and need to maintain a stable phase margin φ m =70°.

[0045] 2. Obtain the modulus value of the controlled object at the frequency of 10rad / s -12.3dB and the phase angle of -76°, and at the same time obtain the phase change rate of the controlled object at the frequency of 10rad / s

[0046] 3. It can be obtained that θ=φ m -n-180°=-34° to get the equation:

[0047]

[0048] The fractional integral order λ=0.5564 is obtained by MATLAB graphical method.

[0049] 4. It can be obtained that A=10 -m / 20 =4.1210, so as to obtain the proportional coefficient and integral coefficient K i = ω c A 1 λ sin θ λ = ...

Embodiment 2

[0055] 1. Mathematical model transfer function of DC motor controlled object system Wherein the time constant becomes T=0.1. And given the crossover frequency ω c =30rad / s and need to maintain a stable phase margin φ m =70°.

[0056] 2. Obtain the modulus value of the controlled object at the frequency of 30rad / s -10dB and the phase angle of -71.5°, and at the same time obtain the phase change rate of the controlled object at the frequency of 30rad / s

[0057] 3. It can be obtained that θ=φ m -n-180°=-38.5° to get the equation:

[0058]

[0059] The fractional integral order λ=0.6657 is obtained by MATLAB graphical method.

[0060] 4. It can be obtained that A=10 -m / 20 =3.1623, so as to obtain the proportional coefficient and integral coefficient K i = ω c A 1 λ sin θ λ ...

Embodiment 3

[0066] 1. There is often a delay in the actual system, assuming the mathematical model transfer function of the controlled object of the DC motor Where T=0.4, L=0.01. And given the crossover frequency ω c =10rad / s and need to maintain a stable phase margin φ m = 50°.

[0067] 2. Obtain the modulus value of the controlled object at the frequency of 10rad / s -12.3dB and the phase angle of -81.8°, and at the same time obtain the phase change rate of the controlled object at the frequency of 10rad / s

[0068] 3. It can be obtained that θ=φ m -n-180°=-48.2° to get the equation:

[0069]

[0070] The fractional integral order λ=0.7904 is obtained by MATLAB graphical method.

[0071] 4. It can be obtained that A=10 -m / 20 =4.1210, so as to obtain the proportional coefficient and integral coefficient K i = ω c A 1 λ sin ...

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Abstract

The invention relates to a parameter setting method for a robust controller of a direct current motor, and belongs to the technical field of automatic fractional order control. The parameter setting method is applied to the direct current motor in a position servo system. The transfer function is that , the transfer function of the FO[PI] controller to be subjected to setting is that , the Bode diagram of the controlled object P(s) is drawn up through a MATLAB, the module value m and the phase angle n at the frequency are obtained; through C(s)P(s)=G(s), the equation about integral order lambda is solved through the MATLAB, through the stability condition, the proportionality coefficient and the differential coefficient are solved, through the obtained lambda, the obtained Kp and Ki are substituted into the formula that . The parameter setting method has the advantages that the calculation amount of the parameter setting of the controller is reduced, and the parameter setting process of the factional order FO[PI] robust controller is simplified.

Description

technical field [0001] The invention belongs to the technical field of fractional-order automatic control, and mainly relates to a method for parameter setting of a robust controller based on MATLAB fractional-order FO[PI]. Background technique [0002] The development level of industrial modernization is an important factor to measure the comprehensive national strength of a country. The motor is the power source of these industrial equipment and the guarantee for the normal operation of the equipment. This makes the research on motor control particularly urgent. The development of high position accuracy, Servo controllers with fast response and high reliability have become a research hotspot. [0003] MATLAB is the abbreviation of Matrix Laboratory, which is used for algorithm development, data visualization, data analysis and control simulation, etc. Especially in recent years, MATLAB has been widely used in control system simulation, analysis and design. Programming wit...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B17/02
Inventor 王春阳蔡年春
Owner CHANGCHUN UNIV OF SCI & TECH
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