摘要
主要研究了一种基于视觉反馈的伺服转台跟踪性能及控制器设计。首先,给出了基于视觉反馈的伺服转台的结构与组成;其次,分析了视觉反馈的特性,给出了其数学模型描述;再次,搭建了伺服转台的仿真模型,利用MATLAB内置PID整定方法进行了PID控制器的参数整定,并对系统性能进行了仿真与分析;最后设计了一种基于Smith预估器和PID的控制器,并进行了系统跟踪性能的仿真。结果表明Smith预估器的引入可以有效补偿视觉反馈带来的延迟,改善系统的跟踪性能。
This paper mainly studies the tracking performance and controller design of servo turntable based on visual feedback.Firstly,the structure and composition of the servo turntable based on visual feedback are given.Secondly,the characteristics of visual feedback are analyzed,and the mathematical model description is given.Thirdly,the simulation model of the servo turntable is built,and the built-in PID tuning method of MATLAB is used.The parameter tuning of the PID controller is carried out,and the system performance is simulated and analyzed.Finally,a controller based on Smith predictor and PID is designed,and the system tracking performance is simulated.The results show that the Smith predictor the introduction can effectively compensate the delay caused by visual feedback and improve the tracking performance of the system.
出处
《工业控制计算机》
2019年第1期14-16,共3页
Industrial Control Computer
