摘要
研究一种开放式全数字舵机控制器。控制器采用了全数字三闭环控制,实现了舵机位置伺服控制功能,其中位置环采用PID参数模糊自整定的算法,电流环、速度环作为内环采用PI调节的算法,并对采用PID参数模糊自整定的算法和传统PID算法所得的结果进行了对比分析。实验结果表明,系统有较好的鲁棒性和动、静态性能,可达到位置跟踪效果。
An open-end all-digital controller electromechanical actuator was designed and studied in this paper. Position loop adopted a parametric fuzzy self-regulation PID control while current loop and velocity loop, as inner loops, employed an algorithm of PI accommodate. Parametric fuzzy self-regulation P1D control algorithm and conventional PID algorithm were compared in the system position loop. Experimental results showed that our system gained a better bang-bang idiosyncrasy and a better dynamic/static characteristic.
出处
《电机技术》
2009年第2期26-28,共3页
Electrical Machinery Technology
关键词
可编程片上系统
电动舵机
参数
模糊
自整定
System-on-a-programmable-chip （sopc） Electromechanical actuator Parametric Fuzzy self-regulation
