基于PID算法的电动舵机控制系统仿真与优化

Simulation and Optimization of Electric Servo Control System Based on PID Algorithm

针对微型无人船现有电动伺服系统存在动态响应速度慢、控制精度差、可靠性差等缺点,通过对无人船电动舵机控制系统总体方案的分解,对系统组成和工作原理进行深入的阐述,在机械结构实现的前提下,将控制系统总体方案的硬件和软件进行细化,确定硬件和软件的各个功能模块,实现对电动舵机的智能控制。在传统舵机控制方案的基础上,提出了一种闭环反馈控制算法,结合仿真结果对算法进行优化分析,进一步优化电动舵机的控制效果。试验结果表明,所提出的闭环反馈控制系统能够满足无人船电动舵机的快速性、稳定性等性能指标要求,通过算法的优化,电动舵机控制在稳定性、响应速度、控制精度上都有较显著的提升。

Aiming at the shortcomings of the existing electric servo system of the micro unmanned boat,such as slow dynamic response speed,poor control accuracy,poor reliability,etc.,through the decomposition of the overall scheme of the electric servo control system of the unmanned boat,and the in-depth elaboration of the system composition and working principle,on the premise of the mechanical structure to realize the overall scheme of the control system of the hardware and software to be refined,and to determine the various functional modules of the hardware and software,to realize the intelligent control of the electric servo.On the basis of the traditional servo control scheme,a closed-loop feedback control algorithm is proposed,and the algorithm is optimized and analyzed in combination with the simulation results to further optimize the control effect of the electric servo.The experimental results show that the proposed closed-loop feedback control system can meet the requirements of the unmanned boat electric servo's rapidity,stability and other performance indicators,and through the optimization of the algorithm,the electric servo control has a more significant improvement in stability,response speed and control accuracy.