Based Nonlinear Tracking Controller For The Motor Model Design And Application

Recently, motor nonlinear system has been a priority and hotspot of the research of control theory. Firstly, we give a summary introduction of modern control theory for the motor engineering, and then two approaches are given for motor controller design: finite time convergence and backstepping. The tracking control problem of motor systems is the main theme of the thesis. The research results obtained by the author can be divided into two parts:Part1. Finite-time tracking controller design for inductor motor model based on TSMIn this paper we proposed a new kind of finite time switching controller based on variable structure control theory. During the control process, the first phase is to induce the system state into a prescribed state (or region) under the current control law by using the relay switching control, and the second phase is to switch to a terminal sliding mode control such that system state reaches to the equilibrium point in a finite time. The boundedness of all the signals in the closed loop system and the global stability of equilibrium point are guaranteed and the system states accurately track the states of the reference signal in a finite time. The simulation validates the efficiency of the control scheme.Part2. Nonlinear adaptive tracking controller design for motor based on backstepping technique.The most controllers for induction motor focus on linear optimal controller, linear model reference adaptive controller, non-adaptive input-output decoupling controller etc. In accordance with dynamic characteristics of motor, the nonlinear controller based on the backstepping technique is designed in the hypothesis of unknown motor's parameters. The proposed nonlinear adaptive controller ensures the global stability of the system and the outputs asymptotically tracking the reference signals. The simulation validates the efficiency of the control scheme.