直流伺服电机控制模式的仿真

Simulation of DC Servo Motor Control Model

为了能够精确地对伺服电机进行3种控制模式下的仿真,通过MATLAB下的Simulink建立仿真环境,并采用PID的形式来设计控制器,验证直流伺服电机的控制不会因负载不同而发生变化,从而实现对直流伺服电机的位置、速度和力矩的3种模式控制仿真。基于摆臂系统为例,以电流环为最基本环路,速度环和位置环为外环,通过调节力矩PI控制器、速度PI控制器以及位置PID控制器,分别对力矩模式、速度模式及位置模式3种伺服电机的控制模式进行仿真,在伺服电机的额定力矩范围内改变负载值,来验证了控制器确定后,直流伺服电机不会因负载变化而改变控制特性。

In order to accurately simulate the three control mode of servo motor, to establishes the simulation environment through MATLAB Simulink, and to design a controller using PID,verifying the control of DC servo motor will not change due to different load and realizes the three mode control simulation of the DC servo motor＇s position speed and torque. The swing arm system as an example, based on the current loop to the basic loop, speed loop and position loop as the outer ring, by adjusting the torque PI controller, speed PI controller and position PID controller, torque mode and speed mode and position mode of the three servo motors respectively controlled by changing the value of the load in the simulation. Rated torque range of servo motor, it verifies the controller after the DC servo motor is not due to the load changes and changes control characteristics.