【正文】 湖 北 民 族 學(xué) 院 畢業(yè)論文（設(shè)計） 基于 雙 閉環(huán)控制的直流 電機 調(diào)速系統(tǒng)設(shè)計 學(xué)生姓名： 學(xué) 號： 030940730 系 別： 電氣工程系 專 業(yè)： 電氣工程及其自動化 指導(dǎo)教師： 評閱教師： 論文答辯日期 20200525 答辯委員會主席 I 摘 要 伴 隨科學(xué) 技術(shù) 的 迅猛 發(fā)展，電 動 機 有關(guān)的控制 技術(shù) 發(fā)展 也 與時俱進 ，電 動 機的 運用 領(lǐng)域 在 現(xiàn)實生活 中 的許多領(lǐng)域，也起到了不可或缺的作用。而其中直流電機 更是憑借它快速的反應(yīng)度 、精 準(zhǔn)的調(diào)速性能 、 極低的功耗和 寬 闊的 調(diào)速范圍等優(yōu)點 在整個調(diào)速控制系統(tǒng)中獨占鰲頭 。 在直流電動機控制調(diào)速系統(tǒng)中，開環(huán)性能指標(biāo)差，為此有必要對這些性能進行修正改善 ， 經(jīng)過大量的研究和實踐證明，可采用 閉環(huán) 調(diào)速 系統(tǒng)。對 于 調(diào)速 性能要求 一般 的場合，采用單閉環(huán) 控制 系統(tǒng)，而對調(diào)速指標(biāo) 高的，則 采用多閉環(huán)系統(tǒng)[1]。 根據(jù)引回的 反 饋 量的性質(zhì)可大致 分為電壓反饋，電流反饋，轉(zhuǎn)速反饋等。在雙 閉環(huán)系統(tǒng)中， 習(xí)慣采用電流、 轉(zhuǎn)速閉環(huán) 控制 。 采用雙閉控制調(diào)速系統(tǒng)可以做到無差調(diào)節(jié)，且性能優(yōu)越，尤其在很多高精尖技術(shù)中運用廣范，這使得對它的研究具有很高的現(xiàn)實意義。 本文首先論述直流調(diào)速系統(tǒng)的現(xiàn)狀和背景，討論研究該系統(tǒng)的重要意義，然后，對雙閉環(huán)調(diào)速系統(tǒng) 進行 理 論分析 ，最后，在理論研究的基礎(chǔ)上，根據(jù)要求的數(shù)據(jù)參數(shù)，設(shè)計出合理的雙閉環(huán)直流調(diào)速系統(tǒng)。理論上完成系統(tǒng)設(shè)計后，將對所設(shè)計的系統(tǒng)進行 MATLAB 仿真，得出仿真結(jié)果，并分析所得結(jié)果與理論值的異同，找出系統(tǒng)中不合 理的環(huán)節(jié)和參數(shù)，進行校正和必要的處理，并最終得出符合要求的系統(tǒng)模型。為突出該系統(tǒng)的優(yōu)、缺點，將會對雙閉環(huán)直流調(diào)速系統(tǒng)與其它調(diào)速系統(tǒng)（開環(huán)調(diào)速系統(tǒng)和單閉環(huán)調(diào)速系統(tǒng)）進行比較。 關(guān)鍵詞 : 穩(wěn)態(tài)性能，直流電機， 雙 閉環(huán)，靜差， MATLAB II ABSTRACT Along with the rapid development of science and technology, related to motor control technology development is also advancing with The Times, the motor application in many fields in real life, it also plays an indispensable role. And the DC motor is relying on its quick response and accurate performance of speed and low power consumption and wide speed range, etc in the speed regulation control system. In a DC motor speed regulation system, open loop performance is poor, therefore it is necessary to be revised to improve the performance of these, after a lot of research and practice has proved, can adopt the closed loop speed regulation system. For speed control performance requirements in general situation, adopt single closed loop control system, and high speed control indexes, the multi closed loop system. Habit in the double closed loop system, using current and speed closed loop control. Speed control system with double closed control can be done without adjustment, and superior performance, especially in many advanced technology used in broader range, this makes the study of it has high practical significance. First of all, the paper discusses the present situation of DC speed regulating system and background, researching significance of this system, and then, theoretical analysis was carried out on the double closed loop speed regulation system, and finally, on the basis of theoretical research, according to the requirements of the data parameter, design a reasonable double closedloop DC speed regulating system. After finishing the system design, to system design by MATLAB simulation, the simulation results, and analyzes the similarities and differences between the results with the theoretical value, and find out the unreasonable links and in the system parameters, calibration and the necessary processing, and eventually concluded that conform to the requirements of system model. To highlight the advantages and disadvantages of the system and will with other speed regulation system of double closed loop DC speed control system (open loop speed control system and a single closedloop speed control system). Keywords: Steady state performance, directcurrent motor,Double closed loop, MATLAB III 目 錄 摘 要 ............................................................. I ABSTRACT ..............................................................................................................II 1 緒言 課題背景及現(xiàn)狀 .................................................................................................... 1 課題研究意義 ........................................................................................................ 2 雙閉環(huán)直流電動機調(diào)速概況 ................................................................................ 3 MATLAB 簡介 ...................................................................................................... 4 課題設(shè)計內(nèi)容 ........................................................................................................ 4 2 雙閉環(huán)調(diào)速系統(tǒng)的工作原理 直流電動機 ............................................................................................................. 5 雙閉環(huán)調(diào)速系統(tǒng)的組成 ......................................................................................... 6 雙閉環(huán)調(diào)速系統(tǒng)的工作原理 ................................................................................. 6 直流電動機的起動與調(diào)速 ..................................................................................... 7 直流電動機的起動 ............................................................................................. 7 直流電動機速度的調(diào)節(jié) ..................................................................................... 8 3 雙閉環(huán)直流調(diào)速系統(tǒng)的性能指標(biāo) 靜態(tài)性能指標(biāo) ........................................................................................................ 9 雙閉環(huán)控制的性能指標(biāo) ....................................................................................... 11 雙閉環(huán)調(diào)速系統(tǒng)的動態(tài)結(jié)構(gòu) ............................................................................... 13 可控硅整流裝置的數(shù)學(xué)模型 ............................................................................. 13 電動機的傳遞函數(shù)和動態(tài)結(jié)構(gòu) ........................................................................ 14 測速發(fā)電機和比例放大器的傳遞函數(shù) ............................................................ 15 電流負(fù)反饋環(huán)節(jié)的模型 .................................................................................... 16 雙閉環(huán)控制系統(tǒng)的動態(tài)模型 ............................................................................ 17 4 雙閉環(huán)控制系統(tǒng)的靜差分析 典型系統(tǒng) ............................................................................................................... 18 IV 典型Ⅰ型系統(tǒng) .................................................................................................... 18 典型Ⅱ型系統(tǒng)