温度自适应PID整定方法在伺服系统中的应用

Application of Temperature Adaptive PID Tuning Method in Servo System

无人机自动机场是一种远程操控无人机进行巡检作业,对无人机进行自主回收、保养的无人自动化伺服系统设备。工作环境温度较低时,系统负载特性突变,伺服设备启动性能下降,易失步堵转。为提升产品可靠性和环境适应性,该文首先分析了环境温度对伺服系统机械传动负载特性的影响,结合无刷直流伺服系统的启动特性与运行特性,提出了一种基于环境温度自适应的伺服系统PID参数自整定策略。在无人机自动机场平台上,验证了该控制策略的有效性和可行性。

UAV automatic airport is an unmanned automated servo system equipment that remotely controls UAVs for inspection operations and performs autonomous recovery and maintenance of UAVs.When the working environment temperature is low,the system load characteristics suddenly change,the starting performance of the servo equipment decreases,and it is easy to stall.In order to improve product reliability and environmental adaptability,the influence of ambient temperature on the mechanical transmission load characteristics of servo system is first analyzed,and a self-tuning strategy of PID parameters of servo system based on ambient temperature adaptation is proposed by combining the starting characteristics and operating characteristics of brushless DC servo system.On the UAV automatic airport platform,the effectiveness and feasibility of the control strategy are verified.