具有弱磁调速的他励直流电机非线性多输入多输出控制器的设计

针对具有弱磁调速的他励直流电动机模型，该文将常规励磁电流调节器、电枢回路速度调节器、电流调节器合而为一，将励磁电流同电机的速度、电枢电流一样取为状态变量，按照多输入多输出(MIMO)非线性系统，尝试性地设计了一种MIMO励磁及速度控制器。该控制器结合负载转矩自适应估计技术，并利用状态反馈线性化技术和极点配置方法进行设计。仿真结果表明，针对冷连轧机某机架驱动用他励直流电机所设计的非线性MIMO励磁及速度控制器，对负载转矩摄动有较强的自适应性和鲁棒性。电机从低速启动到基速及最高速度运行时，动静态性能优良，从而验证了该文所提出方法的有效性。

THE DESIGN OF NONLINEAR MIMO CONTROLLER FOR A SEPARATELY EXCITED DC MOTOR WITH FIELD WEAKENING

A nonlinear multi-input multi-output (MIMO)excitation and speed controller for separately excited DCmotors with field weakening is presented, which plays the role of the general excitation circuit regulator, the speed regulator and the current regulator in armature circuit. This controller takes field current, speed and armature current of the motor as state variables. The controller is designed by usingload-torque-adaptive estimating technique, state feedbacklinearization technique and pole assignment method. The results of computer simulation are given for a DC motor driving a stand of cold continuous rolling mill, which shows that thesystem has strong adaptability and robustness for load-torque disturbance. The system has good dynamic and staticperformances when a motor starts from low speed to basedspeed and highest speed, so the validity of this method isdemonstrated.