简易帆板摆角控制系统建模与MATLAB仿真

The Modeling and MATLAB Simulation of Simple Windsurfing Angle Control System

精确的建模是控制系统分析和设计的基础。本文提出了一种帆板摆角控制系统的建模方法并通过MATLAB仿真得出帆板摆角控制系统的最优PID控制参数。在详细分析系统构成的基础上,逐一推导出系统的执行器和被控对象的时域数学模型,并用拉普拉斯变换求解频域数学模型,由此得出系统除控制器之外的开环传递函数。根据建模结果以及应用背景,利用MATLAB软件的Simulink仿真工具,建立整个系统的闭环控制框图,逐步调整PID控制器参数,得出系统最优闭环输出响应曲线图,此时PID控制器的参数是K_p=90,K_i=1,K_d=7.1,调节时间t=0.4s,超调量为2%。

The precise modeling is the foundation of the analysis and design of control systems. A modeling method of one kind Windsurfing Angle control system is proposed. The optimal PID parameters are obtained through MATLAB simulation. On the baisis of detailed anlysis of the system’s constitution,the time domain model of the actuator and the controlled object were deduced step by step. Then the open loop transfer function of the control system was obtained through Laplace. According to the modeling results and application background,we can establish the closed loop control framework of the whole system through Simulink tools of MATLAB. Finally we got the optimal output response of the closed loop system through gradually adjusting the parameters of PID controller when Kp= 90,Ki= 1,Kd= 7. 1,regulative time is 0. 4 s and overshoot is 2%.