大惯量伺服系统智能PID算法研究

【作者】 乔震；

【导师】 戴跃伟；

【作者基本信息】 南京理工大学 ， 系统工程， 2008， 硕士

【摘要】 随着计算机技术和交流电机调速技术的飞速发展,现代数字交流伺服系统的发展也是日新月异,各种新的控制方法和调速手段得以应用在实际控制系统中,使得现代伺服系统朝着小型化、智能化、高速高精度方向发展。本文结合一套实际交流伺服控制系统的研制,侧重研究了智能PID控制算法及其应用,以实现高速高精度的控制指标。论文针对大转动惯量的控制对象和指标要求,确定了控制系统的总体结构,阐述了伺服控制器及采样控制电路、输出控制电路及外围接口电路设计及伺服控制卡的软件功能和总体流程,介绍了指令读取、架位信息采集等软件算法,并详细分析了分区变参数PID和复合控制相结合的智能PID控制算法。在Matlab仿真环境下,构建了位置闭环伺服控制系统,进行了常规PID和智能PID控制算法的仿真研究。通过对比实验,体现智能PID控制算法的高效性和可行性。文中还针对前馈控制信号的数字化处理方法进行了分析和仿真研究。在仿真环境和实际应用中,大惯量数字伺服系统跟踪阶跃、等速和正弦三种典型信号时,均达到预定的控制要求,取得令人满意的控制效果。实际应用的结果体现了本文研究的智能PID控制算法的正确性和有效性。更多还原

【Abstract】 With the rapid development of computer technology and AC motor timing technology, modern digital servo system has been changed a lot. All kinds of new control algorithm and timing methods have been used in reality control systems, which make modern servo systems small, intelligent, high-speed and accurate. Combining with a suit of actual AC servo system, this paper emphasizes on studying the intelligent PID control algorithm, which can realize the target with high-speed and good-accuracy.Considering the control object of servo system in this paper has great inertia, high accuracy and response speed, the global structure of control system is confirmed. Meanwhile the servo controller, sample control circuit, output control circuit and external interface circuits are designed according to main control chip TMS320F206 DSP.The software function and whole flow chart of servo control card are analyzed in this paper. The software algorithms of reading command, sampling position information are introduced. Also the intelligent PID control algorithm combined with subarea variable parameter method and compound control method is detaily discussed.In the simulation environment of matlab, the servo control system of position close-loop is construced. The simulation study of traditional PID and intelligent PID is carried out. Through the compare research, the high effect and feasibility of intelligent PID control algorithm are clearly shown. The digital processing method for forward-feedback control signals is analyzed and simulated.In the simulation environment and actual application, the digital servo system with great inertia receives preconcerted control requests when following three typical signals of step, speed and sine wave. The results of actual application show the correctness and satisfied validity of the intelligent PID control algorithm studied in this paper.更多还原