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with Uncertainties
Jianguo Zhou, Youyi Wang and Rujing Zhou
School of Electrical and Electronic Engineering
Nanyang Technological University
Nanyang Avenue, Republic of Singapore
Singapore, 639798
0-7803-6338-8/00/$10.00(~)2000IEEE
91
If
bf
and
03
-= -(ua
La
- E - Raia)
E = K i p , Te = K i f i , , K
where,
w
=af.
if
4f
Inertia of motor
Damping constant of motor
Electromachnical transduction constant
Electric torque generated by the motor
Mechanical load torque
The motor constant
Resistance of the armature winding
Resistance of the field winding
ia
k
e'
TL
K
Ra
Rf
La
Lf
Ua
Armature inductance
Field inductance
Voltage applied to armature winding (a control
--ifR f
variable)
u.f
variable)
Lf
a , ( K i , i f -Bw)-b,
92
0
Aa(iaif - Bw) - Ab
Since the control objective is to make the motor speed
track the desired reference speed command, we should select
=-
a, K i f
Lrl (-Kifu-R,i,)--
a, K i f i ,
Lf
Rf
(7)
where
ah1 L j h , = -f = a , (Ki,if - B w ) - b,
ax
ax
L h --g,=O
ah1
g, 1
ax
ah1
Lg,hl = x g f
=o
ah2 Lf- h 2 -- F f
- --E
Rf +a,Kif(Ki,if -Bw)-b,Kij
Lf
ah
LAf h2 = 2Af = AaKif (Ki,if - B o ) - AbKif
ax
i = [ Z ( x ) + A A ( x ) ] + B(x)C
(15)
93
v d q , w $ ) as
SI) is
1-2-
Y1
where
-[
+ klZ24, +-el
Y1
+Z2[Z1 +L2-hl
f +4p2+Za + k 1 ( Z 2- k , ? ) + p l ~ l ]
(25)
+e,p3 ( x )
7 ( x )~+Zf2
(26)
e, = A ( x ) + A A ( x ) + B U
(18)
where
94
(27)
Z3 = 4 3 ~ -3$ 1 ~ 3( X I
el
in the third
(28)
~2 ( 3 , $1
The derivative of
Z
:
1
+5;
(29)
2Y2
V2 ( 4 , q ) is as
follows:
(39)
&
1 -
+gl(Z3p3 +-$I)
Y2
(30)
Step 4: To design the final adaptive backstepping nonlinear
control for the system, we define the augmented Lyapunov
~ ,2 , ~ 3 , 5ti&1 , as:
function v ( z ~
lim
t+m
M ( T ) ~ TI
(41)
+m .
& ) is computed as
V.SIMULATION RESULTS
3.73kW
183.26 Rads
240V
1.20
V(El,Z2,E3
,F],
) is positive
&,
(38)
4A
95
4.2 I
I
t
93.8A
3.6-
a 3.40
Q)
.U
3.23-
2.8
VI. CONCLUSION
A nonlinear adaptive backstepping based speed controller is
designed for the field weakening area of a separately excited
DC motor. Firstly the nonlinear model of the system is
derived, at the same time the parameter uncertainties such as
the inertia and load torque are considered. Then by using
linear reference model to design the transient performance
and through suitable nonlinear change of coordinates, a
nonlinear adaptive backstepping control algorithm is
designed systematically and the stability analysis is also
96