基于模糊PID算法的高精度转台控制系统研究
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摘要
以高精度转台控制系统为研究对象,围绕其控制框架与策略,提出基于模糊PID的直接闭环控制方法。建立步进电机模糊PID控制模型,对系统进行MATLAB仿真分析,验证了模糊PID控制在步进电机直接闭环控制系统中的优越性;为了解决传统控制方式中步进电机丢步、转台启动抖动和运行漂移等问题,以绝对光栅尺位置误差和误差率作为输入量进行了闭环模糊PID控制,进一步减小了误差。实验结果表明:该方法在提高回转定位精度方面具有显著的优势,同时保证了系统的可靠性。
Aiming at the high precision turntable control system,the fuzzy PID based on direct closed-loop control method was proposed around its control frame and strategy. Simulation of fuzzy PID controller was proceeded herein for stepping motor,the superiority of fuzzy PID method in stepping motor direct closed-loop control was testified. To solve the steps losing,started shaking,run drift and etc problems in traditional control method,the absolute grating ruler position error and error rate were taken as inputs,the error influence was eliminated further. The experimental results show that the system obviously has remarkable superiority in positional accuracy,meanwhile the reliability is satisfied.
Aiming at the high precision turntable control system,the fuzzy PID based on direct closed-loop control method was proposed around its control frame and strategy. Simulation of fuzzy PID controller was proceeded herein for stepping motor,the superiority of fuzzy PID method in stepping motor direct closed-loop control was testified. To solve the steps losing,started shaking,run drift and etc problems in traditional control method,the absolute grating ruler position error and error rate were taken as inputs,the error influence was eliminated further. The experimental results show that the system obviously has remarkable superiority in positional accuracy,meanwhile the reliability is satisfied.
引文
[1]马国庆.高精度伺服转台关键技术研究[D].哈尔滨:哈尔滨工业大学,2010.
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[3]李晓磊.高精度转台位置伺服控制系统的研究[D].哈尔滨:哈尔滨工业大学,2012.
[4]刘宝志.步进电机的精确控制方法研究[D].济南:山东大学,2010.
[5]王列虎,皮佑国.数控机床中直接位置闭环控制系统的研究[J].组合机床与自动化加工技术,2011(2):50-52.WANG L H,PI Y G.Research of Direct Position Closed Control System in NC Machine[J].Modular Machine Tool&Automatic Manufacturing Technique,2011(2):50-52.
[6]黄令龙,郭阳宽,蒋培军,等.高精度伺服转台控制系统的设计[J].清华大学学报:自然科学版,2004,44(8):1054-1056.HUANG L L,GUO Y K,JIANG P J,et al.Control System for High-precision Turn Table[J].Journal of Tsinghua University(Science and Technology),2004,44(8):1054-1056.
[7]RONG H G,ZHENG H,LI Z Q,et al.Tuning of Fuzzy PID Controller for Smith Predictor[J].Journal of Central South University of Technology,2010,17(3):566-568.
[8]丛自龙,袁朝辉,杨芳.基于模糊自适应PID控制的定位系统设计[J].机床与液压,2013,41(7):138-142.CONG Z L,YUAN Z H,YANG F.Design of Position System Based on Fuzzy Adaptive PID Control[J].Machine Tool&Hydraulics,2013,41(7):138-142.
[9]阮奇桢.我和Lab VIEW:一个NI工程师的十年编程经验[J].2版.北京:北京航空航天大学出版社,2012.
[2]杜璧秀,张淑梅,高慧斌,等.高精度转台稳定性研究[J].光电工程,2011,38(3):14-18.DU B X,ZHANG S M,GAO H B,et al.The Speed Stability for the High Precision Turntable[J].Opto-Electronic Engineering,2011,38(3):14-18.
[3]李晓磊.高精度转台位置伺服控制系统的研究[D].哈尔滨:哈尔滨工业大学,2012.
[4]刘宝志.步进电机的精确控制方法研究[D].济南:山东大学,2010.
[5]王列虎,皮佑国.数控机床中直接位置闭环控制系统的研究[J].组合机床与自动化加工技术,2011(2):50-52.WANG L H,PI Y G.Research of Direct Position Closed Control System in NC Machine[J].Modular Machine Tool&Automatic Manufacturing Technique,2011(2):50-52.
[6]黄令龙,郭阳宽,蒋培军,等.高精度伺服转台控制系统的设计[J].清华大学学报:自然科学版,2004,44(8):1054-1056.HUANG L L,GUO Y K,JIANG P J,et al.Control System for High-precision Turn Table[J].Journal of Tsinghua University(Science and Technology),2004,44(8):1054-1056.
[7]RONG H G,ZHENG H,LI Z Q,et al.Tuning of Fuzzy PID Controller for Smith Predictor[J].Journal of Central South University of Technology,2010,17(3):566-568.
[8]丛自龙,袁朝辉,杨芳.基于模糊自适应PID控制的定位系统设计[J].机床与液压,2013,41(7):138-142.CONG Z L,YUAN Z H,YANG F.Design of Position System Based on Fuzzy Adaptive PID Control[J].Machine Tool&Hydraulics,2013,41(7):138-142.
[9]阮奇桢.我和Lab VIEW:一个NI工程师的十年编程经验[J].2版.北京:北京航空航天大学出版社,2012.