基于无模型自适应控制方法的直流电机调速系统
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摘要
设计了一种应用数据采集卡的无模型学习自适应直流调速系统,将基于全格式线性化的单入单出非线性离散时间系统的无模型自适应控制方法应用在直流电机速度控制中,控制器的设计是无模型的,弥补了经典自适应控制阶数高时在线计算量过大而不能适应于系统快速变化过程的不足。系统包括控制部分和实时仿真部分,实现了转速采集、电机控制、参数修改及轨迹绘制的实时过程。采用Visual Basic(VB)编写的控制软件,通过动态链接库调用的方式控制数据采集卡。实验结果展示了该方法的稳定性和抑止外部干扰的有效性和鲁棒性。
The model-free learning adaptive motion control system of DC motor based on data acquisition was designed.The model-free learning adaptive control(MFLAC) approach of a class of SISO nonlinear discrete-time systems based on linearization of entire format was applied to DC motor speed control.The design of controller is model-free.The control is very effective when model orders are too high that the classical adaptive control needs too much computering resource to deal with its heavy computation burden in order to meeting the requirement of the rapid system response.System consists of control components and real time simulation.Speed acquisition,motor control,parameter modification and track plotted of real time process are realized,programmed software is the Visual Basic,adopted of the dynamic-linked libraries(DLL) to control the data acquisition.Stability,validity and robustness against exogenous disturbance and noise are demonstrated by experimental results for the nonlinear systems of motor with vaguely known dynamics.
The model-free learning adaptive motion control system of DC motor based on data acquisition was designed.The model-free learning adaptive control(MFLAC) approach of a class of SISO nonlinear discrete-time systems based on linearization of entire format was applied to DC motor speed control.The design of controller is model-free.The control is very effective when model orders are too high that the classical adaptive control needs too much computering resource to deal with its heavy computation burden in order to meeting the requirement of the rapid system response.System consists of control components and real time simulation.Speed acquisition,motor control,parameter modification and track plotted of real time process are realized,programmed software is the Visual Basic,adopted of the dynamic-linked libraries(DLL) to control the data acquisition.Stability,validity and robustness against exogenous disturbance and noise are demonstrated by experimental results for the nonlinear systems of motor with vaguely known dynamics.
引文
[1]周儒勋,亓迎川.直流电机模型参数的直接辨识[J].空军雷达学院学报,2005,19(2):31-33.
[2]Zou Z L,Fang L L.Nonlinear Load-adaptive MIMO Con-troller for DC Motor Field Weakening[J].Electric Ma-chines and Power Systems,2000,28(1):929-944.
[3]侯忠生.非参数模型及其自适应控制理论[M].北京:科学出版社,1999.
[4]Hou Z S,Huang W H.Model-free Learning Adaptive Con-trol of a Class of SISO Nonlinear Systems[C]∥Proc.of A-merican Control Conference.New Mexico,1997:343-344.
[5]Tan K K,Lee T H,Huang S N,et al.Adaptive PredictiveControl of a Class of SISO Nonlinear Systems[J].Dynam-ics and Control,2001,11(2):151-174.
[6]周强,瞿伟廉.安装MR阻尼器工程结构的非参数模型自适应控制[J].地震工程与工程振动,2004,24(4):127-132.
[7]王春蔚.基于无模型自适应控制理论的局部入口匝道控制系统研究[D].北京:北京交通大学,2005:10-18.
[8]侯忠生.无模型自适应控制的现状和展望[J].控制理论与应用,2006,23(4):586-592.
[9]范逸之,廖锦棋.Vasual Basic硬件设计与开发[M].北京:清华大学出版社,2004.
[10]郑阿奇,曹戈.Viaual Basic实用教程[M].北京:电子工业出版社,2004.
[2]Zou Z L,Fang L L.Nonlinear Load-adaptive MIMO Con-troller for DC Motor Field Weakening[J].Electric Ma-chines and Power Systems,2000,28(1):929-944.
[3]侯忠生.非参数模型及其自适应控制理论[M].北京:科学出版社,1999.
[4]Hou Z S,Huang W H.Model-free Learning Adaptive Con-trol of a Class of SISO Nonlinear Systems[C]∥Proc.of A-merican Control Conference.New Mexico,1997:343-344.
[5]Tan K K,Lee T H,Huang S N,et al.Adaptive PredictiveControl of a Class of SISO Nonlinear Systems[J].Dynam-ics and Control,2001,11(2):151-174.
[6]周强,瞿伟廉.安装MR阻尼器工程结构的非参数模型自适应控制[J].地震工程与工程振动,2004,24(4):127-132.
[7]王春蔚.基于无模型自适应控制理论的局部入口匝道控制系统研究[D].北京:北京交通大学,2005:10-18.
[8]侯忠生.无模型自适应控制的现状和展望[J].控制理论与应用,2006,23(4):586-592.
[9]范逸之,廖锦棋.Vasual Basic硬件设计与开发[M].北京:清华大学出版社,2004.
[10]郑阿奇,曹戈.Viaual Basic实用教程[M].北京:电子工业出版社,2004.
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