This paper proposes a hierarchical control law for DC motor fed by DC–DC power Cuk Converter. The control is divided into two parts: Firstly, the property of differential flatness associated with the mathematical model of the DC motor is studied to design a robust control that achieves the task of tracking the reference angular speed trajectory for the motor. It also gives the voltage profile \(\vartheta \) which must be followed by the Cuk converter. The second independent controller, based on cascade control, is proposed for the Cuk converter, which allows the converter output voltage to follow the specified trajectory \(\vartheta \). Sliding mode control is used in the inner loop, whereas proportional integral control is used in the proposed cascade controller’s outer loop. Numerical simulation of the hierarchical control technique is carried out in MATLAB/Simulink, and results under parametric variation show robustness. Finally, a comparison is drawn for speed trajectory tracking by the DC motor coupled with DC–DC buck and Cuk converter to show the performance improvement in case of using Cuk converter for angular speed trajectory tacking of a DC motor.

本文提出了由直流-直流功率Cuk变换器馈电的直流电动机的分级控制律。该控制分为两部分：首先，研究与直流电动机的数学模型相关的微分平坦度的特性，以设计一种鲁棒的控制，以实现跟踪电动机参考角速度轨迹的任务。它还提供了Cuk转换器必须遵循的电压曲线\（\ vartheta \）。建议为Cuk转换器提供基于级联控制的第二个独立控制器，该控制器允许转换器输出电压遵循指定的轨迹\（\ vartheta \）。内环使用滑模控制，而建议的级联控制器外环使用比例积分控制。在MATLAB / Simulink中对分层控制技术进行了数值模拟，参数变化下的结果显示出鲁棒性。最后，对直流电动机与DC–DC降压和Cuk转换器耦合进行的速度轨迹跟踪进行了比较，以显示在将Cuk转换器用于DC电动机的角速度轨迹跟踪时的性能改进。