摘要
根据IEEE电脑鼠竞赛标准,电脑鼠需要在迷宫内快速找到起点到终点的最短路径,完成冲刺任务。为了确保电脑鼠在迷宫内快速稳定的运动,实现电脑鼠的高性能控制,提出了Matlab/Simulink仿真建模分析电脑鼠直流伺服电机控制特性的方案。根据电机的等效电路模型和动力学模型,建立电机的控制仿真模型,在仿真建模的基础上,应用嵌入式技术、磁电编码器技术、RFID技术对电机进行精准的闭环控制,保证了电脑鼠电机控制的稳定性和高效性。实践表明:该方法解决了直流伺服电机控制系统开发周期长、最优控制参数选取难等问题,可应用于直流伺服电机高性能控制领域。
According to IEEE standards for micromouse maze race, micromouse need to quickly find out theshortest start to finish within the labyrinth path, complete the sprint task. In order to ensure that the micromouse move rapidly and stably in the labyrinth, realized high-performance control of the micromouse, theprogram Matlab/Simulink simulation modeling and analysis of miromouse DC servo motor control characteristics. According to the equivalent circuit model and dynamic model of the motor, motor control simulationmodel, simulation modeling based on the application of embedded technology, magnetic encoder technology,RFID technology for accurate closed-loop control of the motor to ensure that the computer mouse motor control stability and efficiency. Practice shows that： the method to solve the DC servo motor control system development cycle is long, difficult issues such as optimal control parameters selected, DC servo motor can beapplied to the field of high-performance control.
出处
《微电机》
北大核心
2014年第5期41-45,82,共6页
Micromotors
基金
国家高技术研究发展计划(863)项目资助(NO.2012AA061803)
