基于dSPACE平台梯形速度的PID控制模型建立及实验

The PID model for trapezoid speed curves design and experiment with dSPACE controller

为研究伺服电机直接驱动滚珠丝杠机构的速度动态特性,基于dSPACE平台建立了一套实时控制系统,进行了梯形速度曲线的规划、求解和Simulink模型的建立。在此基础上,建立了一种梯形速度PID控制的Simulink模型。通过不同PID参数的实验,表明梯形曲线的起点和拐点是实时控制的难点,且随运动速度的增大误差也同时增大。本文经大量实验得到了一组较高精度的速度控制参数,并在曲线的起点和拐点也实现了平稳控制。

To study the dynamic speed characteristics of ball bearing and screw pairs directly driven by servo motors,a real-time control system based on dSPACE platform was introduced in this paper with the planning and solving of trapezoidal speed curve and the building of Simulink model. On this basis, Simulink model will be built and controlled by the PID-controlled model of trapezoid speed curves. Through the experiments under the different PID parameters,it can be proved that the starting point and inflexion point of the trapezoid speed curves are the difficult points for the real-time control,and mean-while the predicting error becomes larger as increasing the velocity of movement. In this paper,a set of controlling speed parameters with higher precision attained by a large number of experiments,and the starting point and inj＇lexion point of the trapezoid speed curves cart be also achieved with a smooth control.