模型小车电机建模及其控制器的设计

Modeling and Controller Design of the Model Vehicle's Motor

PID(Proportion Integration Differential)控制器问世至今已有近70年的历史,它以其结构简单、稳定性好、工作可靠、调整方便在工业控制中应用很广泛。但是,传统的PID控制难以保证其优良的稳定性和抗干扰能力。本文以模型小车的电机控制系统模型为例,介绍了一种提高系统鲁棒性的基于参数自调整状态反馈H∞控制的优化设计思想。经MATLAB仿真和实践的证明,使该系统性能趋于良好。

PID （Proportion Integration Differentiation） controller has been used for nearly 70 years,it has been widely used in the field of industry control because its simple structure,good stability,reliable operation,easy adjustment.However,it is difficult to guarantee the excellent stability and anti-interference ability of the traditional PID controller.This article has put the model vehicle＇s motor as an example to introduce an optimization design theory.This theory which can improve the system ＇s Robustness is based on the selfadjustment of the parameters and state feedback control.According to the result of MATLAB simulation and practice,this theory can make the system performance become better.