基于改进的双闭环PID导引头力矩电机控制策略研究

Research on the control strategy of the double closed loop PID seeker torque motor

借助NI公司功能强大的数据采集卡和Lab VIEW图形化编程软件,设计了一个性能稳定、测试速度快,自动化程度较高的导引头稳定平台静平衡测控系统,重点针对导引系统直流力矩电机控制中存在的时变、非线性和参数不确定性等问题,在充分研究了现有直流力矩电机伺服控制技术的基础上,首先建立了直流力矩电机的数学模型并对其进行了分析,随后对传统的位置式PID算法采用变速积分策略进行了改进并应用到直流力矩电机位置-速度双闭环PID控制中,仿真结果表明,改进的位置式PID算法大大提高了系统的自学习能力和鲁棒性,显著地改善了控制过程的稳定性。

With the powerful function of data acquisition card and Lab VIEW graphical programming software of NI company, a seeker stable platform static balance measurement and control system of a stable performance, test speed, a higher degree of automa-tion was designed, focusing on the DC torque motor control guidance system time variability, nonlinear and parameter uncertainty, on the basis of full study of the existing DC torque motor servo control technologies, first established a mathematical model of the DC torque motor and its analysis, then improved traditional positional PID algorithm using variable speed integral strategy and ap-plied it into DC torque motor position-speed dual closed-loop PID control system, simulation results show that the improved posi-tional PID algorithm greatly improves the system's self-learning ability and robustness, and makes a significant improvement in the stability of the control process.