一种优化的PID算法在伺服跟踪系统中应用

Application of an Optimized PID Algorithm in Servo Tracking System

伺服位置跟踪作为衡量伺服控制系统性能的重要指标,在伺服控制系统起着举足轻重的作用。但是由于常规PID算法与经典3环结构位置随动系统不能满足伺服系统快速性和准确性的要求,为此在PID的基础上,提出速度前馈加速度前馈PID算法,通过引入前馈控制加快系统响应速度,弥补系统的相位滞后。同时为了提高位置随动的快速性,摒弃速度环和电流环而只采用位置反馈的单环结构。为了验证系统的正确性,利用STM32F103RCT6作为主控芯片进行了正弦信号与不规则曲线的动态跟踪实验,结果表明伺服系统采用速度前馈加速度前馈PID算法可以很好地改善系统的动态响应特性,能够满足动态跟踪的性能要求。

Servo position tracking is an important index to measure the performance of servo control system,andplays an important role in servo control system. However,since the conventional PID algorithm and the classic kringleposition servo system cannot satisfy the requirements of speed and accuracy,Therefore,on basis of PID,basedvelocity feedforward presented before acceleration feedforward PID algorithm,introducd the feedforward control tospeed up the system response speed for phase lag of the system. In order to improve the speed of the position,thespeed loop and current loop were discarded,but only the position feedback was used in order to improve the position.To the correctness verification system using STM32F103RCT6 as the main control chip of sinusoidal signal andirregular curve of dynamic tracking experiment,results show that the dynamic response characteristics of the servosystem with speed and acceleration feedforward PID algorithm can improve the system dynamic responsecharacteristics,can meet the requirements of dynamic tracking performance.