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Brushed direct current motor compound control method design by three-step approach

A brushed DC motor and compound control technology, which is applied in the direction of excitation or armature current control, can solve the problems of rapid low-speed and unstable operation

Active Publication Date: 2015-11-18
JILIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0011] The purpose of the present invention is to solve the problem of rapidity and low-speed running instability in the speed control process of the DC motor through the feedforward and feedback DC motor designed by the three-step method. The brushed DC motor composite control method designed by the three-step method

Method used

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  • Brushed direct current motor compound control method design by three-step approach
  • Brushed direct current motor compound control method design by three-step approach
  • Brushed direct current motor compound control method design by three-step approach

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Embodiment approach

[0121] Numerically, the electromagnetic time constant Much smaller than the electromechanical time constant , so it can be considered that the current loop and the speed loop are decoupled and belong to the cascade system, and the cascade control is used to control the speed of the DC motor.

[0122] I. Design of the Outer Loop Controller :

[0123] Step 1: Steady State Control

[0124] The state equation of the outer ring is:

[0125] (8)

[0126] Assuming that the control target has reached the steady state, the steady state control input adopted is ; According to the steady state condition, let Bring into (8) to get:

[0127] (9)

[0128] According to the Stribeck model, the frictional moment The steady-state model is determined by:

[0129] (10)

[0130] In the Stribeck model, the friction torque is related to the motor speed, and the four unknown parameters in the Stribeck model are measured through experiments;

[0131] but

[0132] (11)

[0133...

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Abstract

The present invention discloses a brushed direct current motor compound control method design by a three-step approach, belongs to the technical field of motors, and aims to solve the problem of speedability and slow running instability in a speed control process of a direct current motor through a feedforward and feedback direct current motor designed by a three-step approach. The method comprises a step of establishing a mathematical model of a direct current brushed motor, and a step of speed regulation compound control of the feedforward and feedback direct current motor designed by the three-step approach. Internal and external operations are separated, the operation loads of a digital processor are reduced, the operation cost is saved, and the control performance is promoted.

Description

technical field [0001] The invention belongs to the technical field of motors. Background technique [0002] In recent years, brushed DC motors have been widely used in robotics, aerospace, automotive electronic systems, photoelectric servo systems and other fields. In order to get more applications in more fields, people continue to improve the requirements for motor control performance, but the difficulty of development is also greatly increasing, mainly the following problems: [0003] 1. The early DC motor speed control system used a single closed-loop PID algorithm for speed control. Although this algorithm has reliable performance and simple structure, it cannot overcome the impact of large-scale changes in load parameters and nonlinear factors on the system, so it is gradually Difficulty meeting control requirements. [0004] 2. In engineering practice, there are many production machinery that require smooth adjustment of speed within a certain range, and require go...

Claims

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Application Information

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IPC IPC(8): H02P7/28
Inventor 顾万里张森胡云峰陈虹
Owner JILIN UNIV
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