摘要
步进电机通常以开环方式应用于精度要求不高的位置伺服系统中。通过位置反馈,可以实现步进电机的高精度闭环定位控制。建立的步进电机数学模型,显示了其高度非线性的特点,为此设计了应用于步进电机闭环控制的参数模糊自整定PID控制器。通过Simulink仿真,分别分析了PID控制、模糊PID控制在步进电机跟踪给定位置时系统的响应情况。并通过分析转速输出曲线,提出了加入模糊速度前馈控制环的系统改进方案,系统稳定性得到较大提高。
Stepper motor is extensively applied in low-precision position servo system with open-loop control. High-precision close-loop orientation control is achieved with stepper motor position feedback. The characteristics of strong non-linearity is shown with the mathematical model of stepper motors, for which fuzzy parameter self-modulated PID controller is designed to apply in stepper motor close-loop control. The responses of PID control and fuzzy PID control are respectively analyzed when the motors tracks desired position via computer simulation. An improvement which adds fuzzy speed feedforward controller to the system is described after analyzing the output curve of rotor speed. Remarkably, the stability of system is enhanced.
出处
《测控技术》
CSCD
北大核心
2009年第1期44-49,共6页
Measurement & Control Technology
关键词
步进电机
PID
参数模糊自整定
模糊速度前馈
stepper motor
PID
fuzzy parameters self-modulation
fuzzy speed feedforward
