摘要
以单轴转台为对象,设计PID控制器。通过硬件电路设计、转台模型辨识、控制律设计以及系统软件编制,构建了转速控制系统,实现了对转台的速度控制;针对转台低速存在的滞滑现象,建立带摩擦模型的转台系统,提出了基于摩擦补偿观测器的滞滑现象的抑制方法;试验结果表明,控制系统运行稳定,摩擦补偿效果令人满意,满足了给定的设计指标,证明了所用方案的可行性和有效性。
A digital PID controller has been designed based on a single--axis turntable. A speed control system is constructed to control speed of turntable by designing hardware circuit, identifying turntable model, designing control law, programming software of the system. For the stick--slip phenomenon at low speed, a turntable model with friction is established, and a method of suppression of stick--slip is proposed based on observer of friction compensation. Simulation results indicated that the system can run stably and satisfy the performance index. The feasibility and validity of the method is verified.
出处
《计算机测量与控制》
CSCD
北大核心
2010年第6期1329-1331,共3页
Computer Measurement &Control
关键词
转台
观测器
滞滑
摩擦补偿
turntable
observer
stick--slip
friction compensation
