摘要
为了解决传统的舵机控制模式和算法不适用巡飞弹舵机控制器的问题,提出一个舵机控制器控制三片舵机的控制模式,以及采用电流环、速度环和位置环的三环控制算法实现了舵机位置伺服功能.对关键的位置环采用模糊PID参数自整定算法,并采用Matlab模糊控制工具箱进行在线仿真.结果表明,该算法能够很快的根据输入信息实时地精确调整PID参数值,可以解决巡飞弹舵机调节参数困难的问题.
To the problem of which traditional stervo control mode and control algorithm are not suitable to stervo controller of loitering munition, the paper brings forward one stervo controller to control three stervos model, and adopts three-loop control algorithm of position loop, velocity loop and current loop to realize stervo position control function. For the key position loop, it adopts fuzzy PID parameter self-adjusting algorithm. Through online simulation in Matlab fuzzy tool software, it can quickly work out the accurate values of Kp, Ki and Kd parameters, and solve the difficult problem to adjust stervo controller parameters.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2009年第2期118-120,共3页
Transactions of Beijing Institute of Technology
基金
国家部委预研项目(402030201)
关键词
巡飞弹
舵机控制器
模糊控制
位置环
loitering munition
stervo controller
fuzzy PID
position loop
