伺服转台智能PID复合控制算法研究

Research on Intelligent PID Compound Controller Algorithm for Servo Revolver

伺服转台大多采用间接驱动方式,以减速机作为传动装置,针对该系统具有间隙、摩擦等非线性特征,以位置环作为研究对象,引入复合控制的思想,提出了一种智能PID控制算法,可根据误差大小和运动趋势来改变P、I、D三个参数值,从而有效的对转台伺服系统的转轴进行实时控制。实验结果表明该算法响应速度快,跟踪性能好,抗外界干扰能力强,可较好地提高控制精度。

Servo revolver mostly adopts indirect drive with decelerator as gearing. For the backlash and friction of the system, this paper takes the position loop as study objectand proposes an intelligent PID compound control algorithm. The PID parameters change with errors and motion trends. Consequently, the axis of servo revolver can be controlled in real time. Experimentation results show that the algorithm has high speed, well tracking performance and strong robust- ness, which meets precision requirements.