【摘要】 为实现自动控制理论非线性教学中理论分析与实验验证的结合，以哈尔滨工业大学-伊顿工程实践教育中心为依托，建立了传递函数模型、Nyquist稳定性分析与实验测试相结合的数字孪生教学体系。以直流电动机电枢电流振荡为背景，突出电动机实体与虚拟模型之间的双向数据流动控制，据此建立实时数据监测→传递函数推导→电枢参数评估→饱和非线性预测→振荡电流实测→非线性控制分析的数字孪生教学模式。电动机虚拟建模机理分析与电枢电流振荡测试相互印证，有效增强了非线性理论教学的直观性，获得学生好评。更多还原

【Abstract】 In order to enhance real-time combination of nonlinear theory and corresponding experiment in teaching of Automatic Control Theory, a teaching framework consists of transfer function modeling, Nyquist criterion and test experiment has been proposed based on digital twin(DT) theory which is under the aegis of Engineering Practice Education Center of Harbin Institute of Technology combined with Eaton Company. Using armature oscillation current of a DC motor as an example, a DT system has been given which include monitor on-line data→detive transfer function→estimate armature parameters→predict saturation nonlinearity→test oscillation current→nonlinearity analysis based on analyzing bidirectional data flow between actual motor and virtual model. It can increase the visualization of teaching due to comparing mechanism analysis to test experiment. This work can give a theoretic and practical reference for teaching similar nonlinear experiment of course of automatic control theory.更多还原