直流电机建模与PID控制器参数优化

DC Motor Modeling and Optimization of PID controller

文章首先采用simcape TM物理建模方法对直流电机进行建模并通过实测数据校准模型中各个参数,使得所建模型能够真实的反应被控对象,然后在simulink环境下在直流电机模型基础上添加PID控制器模型,并利用数值优化的方法对PID控制器三个参数KP KI KD进行整定,使得控制器能够满足一定的设计指标要求并且当直流电机参数在一定范围内变化时仍然具有良好的鲁棒性。

Firstly, the use of physical modeling method simcape DC motor is modeled and measured data by calibrating the model parameters, so that the model can be real reaction controlled object, and then add in the simulink environment PID control for DC motor based on the model model, using numerical optimization methods for PID controller tuning KP KI KD three parameters, so that the controller can meet certain design requirements and when the DC motor parameters within a certain range still has good robustness.