【摘要】 本文针对直流调速系统提出了一种二自由度内模控制设计法．可完全独立地调整跟随性能、抗抗性和鲁棒性。控制器设计简便，控制参数物理意义和调整方针明确．其实际最佳值很容易确定，控制性能良好，可做到在大幅度扰动和参数变化下仍正常工作，转速波动很小。更多还原

【Abstract】 In this paper.a design method of two degree of freedom Internal Model Controller is proposed for DCmotor speed control systems. The tracking ability. the robustness and disturbance rejection can be dealt with in a completely independenl way. The design procedure is quite simple. The control parameters have explicit physical implications and their tuning guidelines are very clear. The excellent dynamic performance is guaranteed even in the case ofst rong disturbances and large parameter changes.更多还原