摘要
针对电动舵机控制器因负载转矩变化而引起控制性能下降的问题,设计了基于DSP和CPLD的全数字电流-速度-位置环的三闭环控制器,并在位置环加入模糊自适应PID算法,减小系统参数变化对控制系统性能的影响,以提高系统的稳定性。利用搭建的试验平台对设计的控制器方案进行了测试。试验结果表明,当负载发生变化时,该方案展现出良好的动、静态性能,具有工作稳定、准确性高和鲁棒性好等优点。
Aiming at the problem that the control performance of the electric steering gear controller decreases due to the change of load torque,a digital current-speed three-closed-loop controller which is based on DSP and CPLD is designed,and the fuzzy adaptive PID algorithm is applicated in the position loop,which can improve the system stability.The designed controller scheme is tested by the detected platform.The test results show that the scheme presents good dynamic and static performance,and has the advantages of stable operation,high accuracy and good robustness,when the load is changed.
作者
郭扬光
赵怀林
祝波
GUO Yang-guang;ZHAO Huai-lin;ZHU Bo(Shanghai Institute of Technology,Shanghai 201418,China)
出处
《电力电子技术》
CSCD
北大核心
2019年第5期21-23,共3页
Power Electronics
基金
国家自然科学基金(61701276)~~
关键词
控制器
电动舵机
模糊控制
controller
electric steering gear
fuzzy control
