伺服系统直流调速系统的改进型内模PD-I控制方法

为提高直流调速系统的控制性能,提出了一种改进型内模PD-I控制器的设计方法。根据直流电机的运行原理,建立了电机输出转速与输入电压变化率之间的数学模型,基于内模控制(Internal Model Control,IMC)原理和Taylor级数展开,设计了一种内模PD控制器,且可通过选择系统的截止频率实现控制器参数的整定。为了获得系统调节所需的控制作用,可将内模PD控制器与积分环节相串联构成改进型内模PD-I控制器,仿真和实验结果表明本方法可使系统获得更好的控制性能。

Improved IMC PD-I Control Method for DC Speed Regulating System

In order to improve the control performance of DC speed regulating system,a modified design method of PD-I controller based on Internal Model Control (IMC)is proposed in this paper. According to the operation principle of the DC motor,the mathematical model between the output speed and the change rate of the input voltage of the motor was established. Then,on the basis of IMC principle and Taylor series expansion, the IMC PD controller was designed, and the tuning of controller parameter could be realized by selecting the cut-off frequency of the system. To obtain the control signal of the system regulation,the IMC PD controller should connect a integrator in series to form the improved IMC PD-I controller. The simulation and experimental results show that the proposed method could make system have better performance.