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针对直流调速系统,设计了一种模糊自整定的分数阶内模控制器。首先将分数阶理论与内模控制(internal model control,IM C)相结合设计分数阶内模控制器,其参数可根据系统的相角裕度和穿越频率进行解析整定;然后在分析了相角裕度和穿越频率对系统性能影响的基础上,设计出模糊控制器,实现了系统根据转速偏差和偏差变化对控制器参数的在线自整定,克服了系统性能对相角裕度和穿越频率选择的依赖。仿真和试验结果表明模糊自整定分数阶内模控制器可使系统具有良好的动态响应、干扰抑制特性以及克服参数摄动的鲁棒性。
For the DC speed control system, a fuzzy self-tuning fractional order model controller is designed. Firstly, the fractional order theory and the IM (internal model control) are combined to design a fractional order model controller whose parameters can be analyzed and adjusted according to the phase margin and the crossover frequency of the system. Then, after analyzing the phase angle The fuzzy controller is designed on the basis of the influence of the margin and the crossover frequency on the performance of the system and the online self-tuning of the controller parameters is realized according to the variation of the speed deviation and the deviation, thus overcoming the influence of the system performance on the selection of the phase margin and the crossover frequency Dependence. Simulation and experimental results show that the fuzzy self-tuning fractional order model controller can make the system have good dynamic response, interference suppression and robustness against parameter perturbation.