摘要
电子舵机的输出轴角位移反馈方式及控制算法直接影响舵机的性能和可控输出角度范围。目前成熟的舵机控制方式是经典PID,存在超调或稳定性差等缺点;采用单个微型电位计因其制造几何局限导致舵机可控闭环角度无法360°可控;采用绝对编码器或霍尔角度传感器进行角度全反馈又会带来静态稳定性差,体积大价格昂贵等弊端;基于此,提出自适应神经模糊算法控制,空间180°相位差互补全反馈的双电位计角度传感器的测量方法,实现舵机360°无死区输出;设计单总线协议和自适应神经模糊控制算法,增强舵机扩展性与稳定的控制性;制作了样机进行测试实验。实验结果表明:自适应神经模糊双电位计角度传感器舵机具有很低的成本,以实现准确整周角位移输出,拥有无超调和稳定性好等优点。
The feedback mode and control algorithm of angular displacement of output axis of electronic servo motor,directly affect the control performance and output precision.Current control algorithm of servo motor is classic PID,which has disadvantages of overshoot or poor stability;The use of a geometric limited single micro-potentiometer causes the servo controllable closed-loop 360°angular output cannot be reached;Using an absolute encoder or Hall angle sensor for full angle feedback will bring bad static stability,large volume,and high price disadvantages;Based on this,this paper proposes adaptive neuro-fuzzy algorithm control,spatial 180°phase difference complementary full feedback dual potentiometer angle sensor measurement method to realize a 360°zero-dead-zone output servo motor;A single bus signal input method is designed to enhance the hardware expandability and controllability;A prototype is made for a test experiment.The experimental results show that the adaptive neuro-fuzzy dual potentiometer angle sensor has a very low cost,but it can achieve an accurate angular displacement with entire circumference,and there is no overshoot and good stability.
作者
罗虎
贾瑞清
LUO Hu;JIA Rui-qing(School of Mechanical Electronic and Information Engineering,China University of Mining and Technology,Beijing 100083,China)
出处
《机械设计与制造》
北大核心
2020年第9期190-196,共7页
Machinery Design & Manufacture
