发布时间 : 星期五 文章闭环系统调节器的设计更新完毕开始阅读
本科学生毕业论文
论文题目：学 院：年 级：专 业：姓 名：学 号：指导教师：
2012年 5月 10日
摘要
直流调速系统的在工业中的应用广泛，也是交流调速系统的基础。直流调速系统用双闭环结构时控制效果较好。本文对双闭环直流调速系统设计模式进行了研究，重点对模拟控制模式及数字控制模式展开研究。分析调速系统的稳态和动态结构，建立双闭环直流调速系统的数学模型，通过全面分析根据双闭环直流调速系统的控制要求将电流和转速都设计为比例积分调节器，并设计了电流和转速调节器的参数。对经典双闭环系统进行分析的同时，为了能得到合理的设计参数，用MATLAB软件对电流环和转速环的设计举例进行了仿真，通过比较说明了直流调速系统模拟控制及数字控制模式的优劣。
关键词：单片机；双闭环；直流调速； MATLAB
ABSTRACT
DC servo system is widely used in the industry，and is the fadation of AC servo System.The DC servo system can be controled well with double-closed system.In this paper double-closed loop DC servo system is studied,the importance of zhe study is the control section.analysis of the static and dynamic of speed control system,and establishing a double-closed loop DC system mathematical model. PI controler is designed for both the current and speed regulator，and design current and speed regulator parameters. When analysis of the classical double-loop system，in order to get a reasonable design parameters. MATLAB software has been selected to simulate parameters of the system which has been choosen,with a comparison to show the characteristics ofDC Control system.
KEY WORDS：Double-closed loop DC servo system ;PI controller;MATLAB
目 录
第一章 绪 论 ........................................................................................................................ 1 1.1 课题背景、发展及意义 .............................................................................................. 1 1.2 课题的主要任务及内容 .............................................................................................. 2 第二章 直流调速系统理论研究和方案确定 ...................................................................... 4 2.1 双闭环调速系统的工作原理 ...................................................................................... 4 2.1.1 转速控制的要求和调速指标 .............................................................................. 4 2.1.2 调速系统的动态性能指标 .................................................................................. 5 2.2 双闭环调速系统的动态分析 ...................................................................................... 6 2.2.1 直流电机动态模型 .............................................................................................. 6 2.2.2 调速系统的双闭环调节原理 .............................................................................. 8 2.3 双闭环调速系统的起动过程分析 .............................................................................. 8 2.4 双闭环直流调速系统 ................................................................................................ 10 2.4.1 稳态结构图 ........................................................................................................ 10 2.4.2 双闭环调速系统组成 ........................................................................................ 11 第三章 双闭环直流调速系统调节器设计 ........................................................................ 13 3.1 按工程设计方法设计双闭环系统调节器 ................................................................ 13 3.1.1 系统设计对象 .................................................................................................... 13 3.1.2 系统设计原则 .................................................................................................... 13 3.2转速-电流调节器结构确定 ....................................................................................... 13 3.3 电流调节器设计 ........................................................................................................ 14 3.3.1 电流环结构图简化 ............................................................................................ 14 3.3.2 电流调节器结构的选择 .................................................................................... 15 3.3.3 电流调节器的参数计算 .................................................................................... 16 3.3.4 电流调节器的实现 ............................................................................................ 16 3.3.5 设计举例 ............................................................................................................ 17 3.4转速调节器设计 ......................................................................................................... 19 3.4.1电流环的等效闭环传递函数 ............................................................................. 19 3.4.2 转速调节器结构的选择 .................................................................................... 20 3.4.3 转速调节器参数的计算 .................................................................................... 21 3.4.4 转速调节器的实现 ............................................................................................ 22 3.4.5设计举例 ............................................................................................................. 22
第四章 双闭环直流调速的数字控制 ................................................................................ 25 4.1 双闭环直流调速系统组成 ........................................................................................ 25 4.1.1 数字控制双闭环直流调速系统硬件总体结构 ................................................ 25 4.1.2 数字控制软件架构 ............................................................................................ 27 4.2 控制程序算法设计 .................................................................................................... 28 第五章 双闭环直流调速系统仿真 .................................................................................... 30 5.1 电流环系统仿真 ........................................................................................................ 30 5.1.1 电流环仿真模型 ................................................................................................ 30 5.1.2 饱和上限设置 .................................................................................................... 30 5.1.3 仿真结果 ............................................................................................................ 31 5.1.4 仿真结果分析 .................................................................................................... 33 5.2 转速环系统仿真 ........................................................................................................ 33 5.2.1 转速环仿真模型 ................................................................................................ 33 5.2.2 设置输入量个数 ................................................................................................ 34 5.2.3 仿真结果 ............................................................................................................ 34 5.2.4 仿真结果分析 .................................................................................................... 36 第六章 总结 ........................................................................................................................ 37 致 谢 .................................................................................................................................... 38 参考文献 ................................................................................................................................ 39 附 录 .................................................................................................................................... 127