摘要本文首先概述直流伺服电动机的结构和双闭环控制系统的研究背景，然后再参考国内 外研究成果简述了本领域的发展现状。通过对直流伺服电机的结构及工作原理的分析建立 了直流电机的数学模型，并对其进行仿真。根据仿真结果分析确定了直流电机双闭环控制 的必要性。文中对双闭环控制系统进行了结构分析，内环采用比例反馈调节系统的响应速 度，外环采用比例积分调节器，使电机满足给定的无静差转速控制性能。并采用根轨迹的 方法对控制器的参数进行确定，求出传递函数，绘制结构图。然后对校正后的系统做 Matlab 仿真，仿真结果显示出双闭环调速系统时域性能指标的优越性，各指标充分满足 电机所期望的性能指标，证明了双闭环调速控制的有效性。69415

毕业论文关键词： 直流伺服电机 双闭环 无静差 比例积分调节器

毕 业 设 计 说 明 书 外 文 摘 要

Title Design of double closed-loop control system for servo motor

Abstract

In this paper,the structure of DC servo motor and the research background of double closed-loop control system are summarized, and then the development status of the field is introduced。Through the analysis of the structure and working principle of DC servo motor, the mathematical model of DC motor is established, and its simulation is carried out. According to the simulation results, the necessity of double closed-loop control of DC motor is analyzed。In this paper, the structure of double-closed loop control system is analyzed, the inner loop adopts proportional feedback to adjust the response speed of the system . The outer loop uses the proportional-integral regulator, which satisfies the control performance of the given Zero steady-state error speed. And the parameters of the controller are determined by using the root locus method, the transfer function is obtained, and the structure diagram is drawn. Then use matlab to simulate the correction system, simulation results show the superiority of the double closed-loop speed regulation system performance index in time domain, indicators fully meet the expectations for the motor performance index. It is proved that the effectiveness of double closed-loop speed control

Keywords DC servo motor Double closed-loop Zero steady-state error Proportional-integral regulator

本科毕业设计说明书 第 I 页

目 次

1 绪论 1

1.1 课题研究背景 1

1.2 双闭环控制 1

1.3 控制算法的发展 1

2 直流伺服电机 4

2.1 电机的结构 4

2.2 工作原理 5

2.3 机械特性 6

2.4 调速控制 8

3 比例积分微分控制 10

3.1