冯高明, 金明磊.售货机直流电机升降系统控制策略研究[J].河南理工大学学报（自然科学版）,2022,41(6):137-144.

FENG G M, JIN M L.Study on control strategy of DC motor lifting system of vending machine[J].Journal of Henan Polytechnic University(Natural Science) ,2022,41(6):137-144.

售货机直流电机升降系统控制策略研究

冯高明, 金明磊

河南理工大学 电气工程与自动化学院，河南 焦作 454000

摘要:为了提高直流电机位置控制系统的精度和速度，在传统三闭环系统的基础上增设微分负反馈，通过预测位置变化趋势，在抑制超调的同时保证系统动态响应速度，提高抗负载扰动能力。在确保无超调的微分负反馈下，引入前馈补偿环节，进一步获得更好的跟踪性能和精度。通过仿真分析，证明该策略具有超调快速响应、抗负载扰动和高性能跟踪等特性，能够提升售货机升降接货装置的性能。

关键词:售货机升降接货装置;微分负反馈;前馈补偿;无超调;抗负载扰动

doi:10.16186/j.cnki.1673-9787.2021050038

基金项目:国家自然科学基金资助项目（41672363）

收稿日期:2021/05/09

修回日期:2021/07/09

出版日期:2022/11/25

Study on control strategy of DC motor lifting system of vending machine

FENG Gaoming, JIN Minglei

School of Electrical Engineering and Automation， Henan Polytechnic University，Jiaozuo 454000，Henan，China

Abstract:In order to improve the accuracy and speed of the position control system of DC motor，the differential negative feedback was added on the basis of the traditional three closed-loop system.By predicting the change trend of the position，the overshoot was restrained，the speed of the dynamic response of the system was ensured，and the anti-load-disturbance ability was improved.Under the differential negative feedback without overshoot，the feedforward compensation was introduced.Therefore，higher tracking performance and accuracy were obtained.Through simulation analysis，it was proved that the strategy had such charters as no overshoot，fast response，anti-load-disturbance and high performance tracking.The performance of the lifting and receiving device of the vending machine was improved.

Key words:lifting and receiving mechanism of vending machine;differential negative feedback;feedforward compensation;no overshoot;anti-load-disturbance

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